289 results about "Drag torque" patented technology

The invention discloses a device and a method for measuring dragging torque of an electronic mechanical brake caliper assembly, and belongs to the technical field of automobile brake system testing. The device comprises a first supporting seat, a driving rotating shaft, a brake disc and a driven rotating shaft assembly with a torque sensor, and precise positioning of a caliper support is achieved through cooperation of a rotating clamp and a guide pin. During testing, the calipers clamp the brake disc firstly to output clamping force and then release pressure, the motor drives the brake disc to rotate by a circle to eliminate inertia moment, and then the torque sensor dynamically collects dragging torque. A modularized brake disc fixing seat is adopted to adapt to products of different specifications, a coupler compensates for shafting offset, a fixing block locking mechanism guarantees non-measurement state safety, and inertia errors are eliminated in combination with a dynamic and static friction separation measurement method. According to the scheme, the problems of positioning deviation, mechanical interference and friction interference in a traditional test are solved, and the measurement precision and efficiency of the dragging torque of the brake calipers are remarkably improved.

The invention discloses a motor coil winding device and method, and belongs to the technical field of motor manufacturing, the motor coil winding device comprises a winding machine body, the upper surface of the winding machine body is fixedly connected with a pair of supporting plates, and the outer surfaces of the supporting plates are provided with self-adaptive floating wire protection assemblies; a wire dynamic regulation and control assembly is installed on the upper surface of the winding machine body, a fixing piece is installed on the upper surface of the winding machine body, and a winding displacement quality sensing assembly is installed on the portion, close to the fixing piece, of the upper surface of the winding machine body. The magnetorheological fluid in the magnetorheological fluid damper rapidly changes the rheological property under the action of a real-time control magnetic field, vibration transmission is effectively restrained, the phenomenon that a wire is broken due to too large tension is avoided, when it is monitored that the tension is too small, the magnetic powder brake increases the resisting moment and slows down the rotating speed of the pay-off reel to improve the tension, and if the tension is too large, the magnetic powder brake stops working. The magnetic powder brake reduces the resistance moment and accelerates the pay-off, and ensures that the wire is always at the optimal traction angle.

The invention discloses a multifunctional angle module test bench which is composed of a bench base, a load simulation device and a pavement simulation device. The bench base is provided with a lifting sliding column, and the height of a loading platform can be adjusted to adapt to suspension deformation; the load simulation device realizes vertical load adjustment by increasing or decreasing balancing weights; the pavement simulation device integrates a belt pulley shaft, a motor, a magnetic powder brake and a pressure oil cylinder, and simulates pavement resistance through belt rolling; during testing, the angle module body is fixed to a loading platform, tires make contact with a belt to achieve dynamic testing, a magnetic powder brake increases resistance torque for a main belt wheel shaft so as to simulate different road conditions, a motor drives the belt to test regenerative braking performance, and a pressure oil cylinder is matched with a thrust bearing to measure axial loads. The steering resistance and tire mechanical property test is completed by changing the included angle between the wheel and the belt motion direction; according to the invention, driving, braking, steering and suspension system testing functions are integrated, and multi-working-condition comprehensive performance detection is realized.

The invention discloses an automatic measuring device and method for a main reducing tapered roller paired bearing. The device comprises a control cabinet, a rack, a supporting platform, an axial loading unit, a bearing rotation driving unit, a non-contact measuring unit and a driving transmission connecting mechanism. A sliding pair is formed by a spline shaft of the driving transmission connecting mechanism and a special dummy shaft, and decoupling and reliable connection of axial loading and rotary driving are achieved in combination with a four-finger pneumatic chuck. The method comprises the following steps: positive and negative clearance measurement: bidirectionally applying force through the axial loading unit, and accurately detecting displacement by using the non-contact measurement unit to calculate the positive clearance; and after a spacer sleeve is selected based on a positive clearance result, the dragging torque is measured through a bearing rotation driving unit so as to verify the negative clearance. According to the invention, the integrated and high-precision automatic measurement of the positive and negative clearances of the main reducing tapered roller paired bearing on the same equipment is realized, the repeated disassembly and assembly of the assembly are effectively avoided, and the measurement efficiency and the assembly quality are improved.

A steer by wire includes a steering wheel holding system. An emulator controller receives vehicle data from vehicle systems and determines whether a vehicle is in one of a driving mode and a non-driving mode. When the vehicle is in the driving mode, the emulator controller transmits a command to an emulator switching system to electrically couple the phases of an emulator motor to a power source to enable the emulator motor to implement steer by wire operations placing the steering wheel in an un-hold mode. When the vehicle is in the non-driving mode, the emulator controller transmits a command to the emulator switching system to electrically couple the phases of the emulator motor to ground to short the phases of the emulator motor to ground to generate a resistive torque to resist rotational movement of a steering wheel of the vehicle placing the steering wheel in a hold mode.

The invention discloses a Yellow River water conservancy project real-time monitoring system based on edge computing, and particularly relates to the technical field of cloud computing. The system constructs a flow state characteristic interval by collecting water and sediment data; loading an algorithm component based on flow state characteristics, and changing a master control pointer by using atomization operation to realize calculation power logic hot switching; analyzing a difference value between the instantaneous torque of the motor and the no-load reference to obtain a sediment deposition resistance torque; mapping the resistance moment to a digital shadow table to extract a gain compensation parameter; and resetting controller parameters and modulating the pulse width signal according to the compensation coefficient, and outputting a driving voltage to control the gate. Through the edge end algorithm hot switching technology, the problems that a traditional system is difficult to adapt to the variable water and sediment working conditions of the Yellow River and logic updating shutdown are solved, and monitoring continuity is guaranteed. The defect of power mismatching of a single driving mode is overcome, motor overload and mechanical jamming are prevented, gate control accuracy and operation stability are greatly improved, and the service life of equipment is greatly prolonged.

Disclosed in the present invention are a road feedback control method and apparatus. The method comprises: by means of a torque sensor stiffness-based steering angle configuration strategy, constructing a driver input torque expression; then acquiring a driver input torque, and, on the basis of the driver input torque expression, calculating a motor rotation angle; then constructing a road feedback motor output torque expression with respect to the motor rotation angle and steering resistance torque expressions for a steering system; and finally, on the basis of a particle swarm optimization, the road feedback motor output torque expression and the steering resistance torque expressions, optimizing parameters of a PID controller. Thus, the present invention uses a swarm intelligent algorithm to achieve rapid optimization of PID control parameters, so as to eliminate reliance on debugging by technicians, thus greatly shortening parameter adjustment periods.

The invention relates to a range extender control method and device, computer equipment and a storage medium, and the method comprises the steps: responding to a starting instruction of a range extender, and controlling a generator to operate according to a first dragging torque, so that the generator drags an engine to rotate reversely; judging whether the internal clearance of the engine component is eliminated or not based on the clearance elimination condition; under the condition that the clearance elimination condition is met, the generator is controlled to operate according to a second dragging torque, so that the generator drags the engine to rotate in the forward direction; and controlling the engine to ignite and start. By adopting the method, the noise problem of the range extender in the prior art can be improved.

The utility model discloses a portable auxiliary tool for quickly operating a mechanical valve, which comprises an auxiliary wheel (1), the center of the auxiliary wheel (1) is rotatably connected with a rotating rod (2), and the bottom end of the rotating rod (2) is provided with a plurality of clamping jaws (3) for fixing a valve hand wheel (5). Aiming at a mechanical valve with a hand wheel with a large number of rotation turns but small resistance torque, the large-size valve operating device has the characteristics of assisting in single-hand operation of a large-size valve and improving the operating efficiency of the large-size valve.

The invention relates to a remote new energy tractor intelligent control method and system. According to the method, the microstructure, stress parameters and humidity of soil are obtained, and dynamic soil cohesion and friction angle are generated through Kalman filtering fusion; a friction coefficient mapping table is inquired based on the parameters to construct a steering resistance torque model, the friction coefficient is calibrated through the cloud in combination with the actual measurement value of the torque sensor, and a resistance torque calibration value is generated; inputting the calibrated resistance moment and path tracking error into a fuzzy reasoning model, and dynamically adjusting parameters of a PI (Proportional-Integral-Definition) controller; a target steering angle is generated based on the corrected PI D parameters, a steering motor is driven to execute through a control algorithm, and state data of the tractor are collected; and uploading the state data to the cloud, and optimizing the friction coefficient mapping table through reinforcement learning. Prediction of steering resistance in a complex soil environment and adaptive matching of control parameters are realized, path tracking precision and system stability are remarkably improved, energy consumption is reduced, and safety and reliability of remote control are ensured.

The invention discloses a starting method, device and equipment for an engine of a vehicle and a readable storage medium, and belongs to the technical field of vehicle control. The method comprises the steps that under the condition that a vehicle is in a high-voltage state, vehicle information of the vehicle at the current moment is obtained, and the vehicle information comprises at least one of the environment temperature, the battery charge state, the heating demand, the engine water temperature, the driving demand torque or the battery discharge power; under the condition that it is determined that an engine of the vehicle is started according to the vehicle information of the vehicle at the current moment, the resistance torque of the engine and the dragging rotating speed needed for starting the engine are obtained; according to the resistance torque of the engine and the dragging rotating speed needed by starting of the engine, the required torque for dragging a generator of the vehicle is determined; and controlling the generator to drag the engine according to the required torque. According to the method, the vehicle driving smoothness is improved.

The invention relates to the technical field of intelligent control of fitness equipment, and provides a power roller training intensity intelligent matching method based on elastic resistance self-adaptive adjustment. The method comprises the following steps: acquiring motion state data of a user during abdominal wheel training in real time through a sensor module; the motion state data and the physiological state data are input into a training intensity matching model, and the training intensity matching model calculates the matching degree of the current training intensity and the target training intensity according to preset training target parameters in combination with basic body parameters input by the user; when the matching degree is lower than a preset matching threshold value, a resistance adjusting instruction is generated according to the training intensity matching model, and the resistance adjusting instruction correspondingly controls the deformation degree or the meshing tooth number of an elastic element in the elastic resistance adjusting device so as to change the elastic resistance moment when the power roller body rolls. The technical blank in the aspects of training intensity dynamic matching, nonlinear resistance adjustment and closed-loop feedback control provides a brand new thought for the design of intelligent fitness equipment.

The invention discloses a low-liquid-volume automobile brake caliper and a liquid casting and forging forming method, and relates to the technical field of automobile brake calipers and casting and forging forming, the low-liquid-volume automobile brake caliper comprises a caliper body and a caliper body support, bolts are arranged on the left side and the right side of the caliper body and the left side and the right side of the caliper body support, and the bolts are used for fixing the caliper body and the caliper body support; an oil cylinder is arranged in the center of the top of the caliper body, a piston is arranged in the oil cylinder, a brake block is arranged in the piston, an inner friction plate and an outer friction plate are embedded into the upper end and the lower end of the caliper body support respectively, a fixing ring is welded to the center of back steel on the top of the inner friction plate, and a first reset structure is arranged in the center of the fixing ring which is fixedly connected with the piston. Reset structures II are arranged at the two ends of the inner friction plate and the outer friction plate; through the reset structure, the idle stroke of the brake pedal is reduced, the dragging torque is reduced, the response speed of the brake system is increased, and the overall efficiency and performance of the brake system are improved.

The present application relates to a braking method for an adaptive cruise control system (ACC), the method comprising: receiving an engine drag torque limit value of the vehicle; performing a correction of the engine drag torque limit value according to the vehicle's longitudinal speed and the actual torque value of the vehicle's engine; and determining, according to the corrected engine drag torque limit value, whether braking is performed via the vehicle stability control system (ESP). The present application further relates to a computer program product, a computer-readable storage medium, and a domain controller.

This invention provides a virtual-real fusion-based force feedback simulation control method for ship rudder control sticks, comprising: constructing a set of fluid control equations for the flow field on the rudder surface; discretizing the set of fluid control equations using a standard structured mesh to obtain a discretized set of fluid control equations; solving the discretized set of fluid control equations based on the finite difference method and boundary conditions to obtain the drag torque value of the fluid acting on the rudder plate; converting the drag torque value into a damping torque value; the control unit outputting a motor drive command based on the magnitude of the damping torque value; and the motor driver, based on the motor drive command output by the control unit, driving the force feedback simulation motor to generate a corresponding simulated damping torque value, which acts on the control stick to produce force feedback. This invention provides real-time control stick force feedback for the helmsman, allowing for direct perception of the ship's navigation status and enhancing steering stability.

The invention concerns a Brake carrier (10) for disc brake arrangement (11), the disc brake arrangement (11) having brake pads (24) that are displaceable relative to a brake disc (100), wherein the brake carrier (10) is configured to support the brake pads (24) during their displacement; wherein the brake carrier (10) comprises at least a first portion (14) that is arrangeable on a first side (13) of the brake disc (100), a second portion (16) that that is arrangeable on a second side (15) of the brake disc (100) and two connecting portions (18, 20) each connecting the first and second portions (14, 16); wherein at least one of the connecting portions (18, 20) comprises an air channel (12) having a first end (34) that is arranged so as to face towards the brake disc (100). Also disclosed is a disc brake arrangement (11) comprising such a brake carrier (10).

The single-face wet clutch suitable for the narrow space comprises a clutch outer hub and a clutch inner hub, and a plurality of first clutch plates are arranged on the inner side of the clutch outer hub in a bonding mode; a plurality of second clutch plates are arranged on the inner side of the clutch inner hub in a bonding manner; the first clutch plate and the second clutch plate are oppositely arranged in a penetrating mode, and at least one of the contact faces of the first clutch plate and the second clutch plate is a curve face. The single-face clutch can shorten the axial size of the clutch assembly and is suitable for a narrow space with insufficient axial length; the bent clutch plates can enable the clutch plates to be distributed more evenly in the axial direction in the separation state, the combination and separation consistency of the clutch assembly is improved, meanwhile, the guide effect of oil in the radial outer side direction is improved through the bent clutch plates, the oil can be rapidly discharged, the lubricating and cooling effects can be rapidly achieved, the dragging torque is reduced, and the service life of the clutch assembly is prolonged. The product efficiency is improved.

The invention relates to an active and passive torsion damper test platform and a test method. The test platform comprises a test bench, and the test bench is provided with an adjustable-speed motor, a first rotating speed and torque sensor, a first acceleration sensor, a speed reducer, a brake mechanism, an eddy current loader, a tested active and passive torsion damper and an industrial personal computer. The speed regulation motor provides power for the test platform, the speed reducer adjusts the rotating speed and torque output by the speed regulation motor, the tested active and passive torsion damper jointly provides a damping effect, the brake mechanism comprises a brake shaft, a brake disc and a brake and provides a brake state for the test platform, and the eddy current loader applies torque to the brake shaft to simulate road resistance torque. The industrial personal computer monitors information collected by the sensors in real time and controls the controllers. According to the testing method, the testing platform can be used for testing the vibration damping performance of the active and passive torsion vibration damper. According to the invention, the test requirements of users can be met, and the performance of active and passive torsion dampers can be tested simultaneously under different working conditions.

The invention belongs to the technical field of carry-scraper control, and discloses a self-adaptive control method for cable dragging torque of an electric carry-scraper. Comprising the steps of collecting cable comprehensive data; preprocessing the cable comprehensive data to obtain a state code set; based on the state code set, utilizing an improved cell algorithm to predict and obtain an ideal dragging torque value of the cable; positioning a difference region based on the ideal drag torque value; constructing a directed graph model based on the difference region; based on the directed graph model, the control parameters of the electric carry-scraper are adaptively adjusted, so that the dragging torque of the cable gradually approaches to an ideal value, adaptive control is realized, the intelligent level, the accuracy and the stability of control are remarkably improved, and the working efficiency and the safety of electric carry-scraper equipment are improved.

The utility model relates to a dragging torque testing device which comprises a base, a motor, a hub flange and a torque telemetering device, the motor, the hub flange and the torque telemetering device are supported on the base, the hub flange is in transmission connection with the motor, and the hub flange is in transmission connection with the torque telemetering device. The hub flange comprises a matching part and a connecting part, the matching part is used for being connected with an inner ring of a hub bearing of a to-be-tested vehicle in an inserted mode and synchronously rotating with the inner ring of the hub bearing, and the connecting part is used for being fixedly connected with a brake disc of the vehicle. The torque telemetering device is used for sensing the dragging torque between the hub bearing and calipers fixed to a vehicle body. The drag torque testing device provided by the utility model can test the drag torque value representing the hub bearing and the calipers in the actual working state of the vehicle.

This application discloses an engine starting control method and system under static conditions, relating to the field of hybrid electric vehicle technology. The method includes: calculating the engine resistance torque based on an engine starting kinematic model; constructing a state equation based on an engine starting dynamics model, using motor speed, engine speed, and driveshaft torque as state variables, motor torque as a control variable, engine resistance torque as a disturbance variable, and motor speed and engine speed as output variables; constructing a Luenberger-type system state observer; and performing speed curve trajectory tracking based on the Luenberger-type system state observer, a preset engine speed curve, and a preset motor speed curve to obtain the optimal control law, characterizing the optimal torque of the motor during the reverse drag starting process of the engine via the driveshaft. This application ensures rapid starting while reducing the peak torque of the driveshaft, effectively guaranteeing the reliability of the driveshaft.

This application relates to the field of intelligent control technology for fitness equipment, and provides a method for intelligent matching of training intensity for an ab wheel based on adaptive adjustment of elastic resistance. The method acquires real-time motion state data of the user during ab wheel training through a sensor module; inputs the motion state data and physiological state data into a training intensity matching model, which calculates the matching degree between the current training intensity and the target training intensity based on preset training target parameters and the user's input basic body parameters; when the matching degree is lower than a preset matching threshold, a resistance adjustment command is generated according to the training intensity matching model. The resistance adjustment command controls the deformation degree or the number of meshing teeth of the elastic element in the elastic resistance adjustment device to change the elastic resistance torque when the ab wheel rolls. This method fills the technological gaps in dynamic matching of training intensity, nonlinear resistance adjustment, and closed-loop feedback control, providing a new approach for the design of intelligent fitness equipment.

The invention relates to a control system which comprises a hydraulic valve and a hydraulic pump, wherein the hydraulic pump feeds the hydraulic valve via a first feed line, the hydraulic pump is driven by an internal combustion engine, the control system comprises a computing unit, the control system further comprises an intermediate feed line, and a load detection line bypassing the intermediate feed line; wherein the valve comprises an open position and a closed position; a pressure of the load detection line controls a resisting torque of the hydraulic pump; the computing unit detects a stalling risk of the engine as a function of an engine speed of the internal combustion engine, and in response, controls a movement of the hydraulic valve towards the closed position; the movement of the hydraulic valve towards the closed position causing a drop in the pressure of the load detection line.

The application relates to the technical field of motors, in particular to a rotor and a motor. The rotor is arranged on the inner circumferential side of a stator of the motor, and comprises a rotor core and a magnetic unit. The material of the rotor core is a non-magnetic conductive material, and a plurality of fixing grooves are arranged on the rotor core and are distributed along the circumferential direction of the rotor core. The magnetic unit is arranged in the fixing grooves, and the magnetic unit comprises a permanent magnet and a magnetic conductor. In the same magnetic unit, the permanent magnet is located on the same side of the magnetic conductor in the circumferential direction of the rotor core, and the end of the permanent magnet close to the magnetic conductor is of the same type of magnetic pole. The magnetic field generated by the excitation of the stator can complete the closure of the magnetic flux through the magnetic conductor, the magnetic potential difference formed by the magnetic permeance difference of the magnetic circuit can generate a drag torque F1, and the magnetic potential difference formed by the magnetic field generated by the excitation of the stator and the magnetic field of the permanent magnet can generate a drag torque F2. The resultant force of the drag torque F1 and the drag torque F2 can drive the rotor to rotate.

The present invention provides a compressor and an air conditioner having the same. The compressor includes a pump body structure, the pump body structure includes a crankshaft, the crankshaft includes at least one eccentric portion, the thrust surface area of ​​the eccentric portion is S, the eccentric torque received by the crankshaft is T, and the rated cooling capacity of the compressor is Q, wherein 30≤Q / (T×S)≤60. In combination with the rated cooling capacity of the compressor and the optimization of the structure of the eccentric portion on the crankshaft, the effect of the eccentric torque received by the crankshaft is improved, making the compressor more stable during operation and being able to effectively reduce the noise of the compressor. The compressor adopts this structure, which greatly reduces the fluctuation of the resistance torque of the compressor at ultra-high speed, improves the problems of increased noise, vibration and deflection of the compressor, and at the same time maximizes the energy efficiency of the compressor, fundamentally ensuring the application reliability of the miniaturized compressor.

The present invention aims to provide a friction element segmentation device with a spring disposed on the tooth portion, comprising a shaft, a cylinder, a piston, an end plate, a plate holder, an involute gear ring, and a flange. The cylinder, piston, and end plate are mounted on the exterior of the shaft, the end plate is fixed to the plate holder, a spring is mounted between the plate holder and the piston, a perforated plate and a perforated friction plate are mounted between the end plate and the piston, the perforated plate and the perforated friction plate are spaced apart to form a series of friction pairs, a spiral segmentation spring with a handle is mounted between the perforated plate and the perforated friction plate, and an end plugging plate and a flange are mounted at each end of the involute gear ring. Without increasing the volume and weight of the friction clutch and without changing the overall structure of the existing clutch, the device achieves rapid axial separation and precise positioning of the friction elements after the clutch is disengaged, reduces friction between the friction elements, reduces drag torque and lubricating oil heating, and improves the no-load transmission efficiency of the clutch. The device is particularly suitable for torque reduction modification of an existing clutch.

The invention relates to an automatic train coupling with a coupling head comprising a coupling lock, wherein the coupling lock is designed as a rotary lock with a coupling eye and a frog, wherein the frog is rotatable about a main axis between a coupled position and an uncoupled position, the coupling eye is rotatably connected to the frog at a first end about a coupling eye axis and has a second free end, and the frog has a jaw that is arranged to receive a second end of a coupling eye of a counter-coupling head; with a decoupling device comprising a motor connected to the frog via a drive link to rotate the frog from the coupled position to the uncoupled position; with a damping device that dampens a rotation of the core by means of a resistance torque. The coupling according to the invention is characterized in that the damping device is arranged to dampen the rotation of the frog from the uncoupled position to the coupled position with a greater resistance torque than the rotation of the frog from the coupled position to the uncoupled position.

The invention discloses a cabin door unfolding torque automatic measuring system for an extreme environment, and aims to solve the problem that a tester cannot go to the scene in person in the extreme environment, the cabin door is ensured to rotate slowly at a constant speed by controlling the rotating speed of a mechanical arm through the automatic measuring system in the cabin door unfolding or closing process, and the cabin door unfolding torque is measured. The rotating process can be continuous, and the mechanical arm is always in contact with the force sensor fixed on the cabin door in the testing process, so that the magnitude of the force required for keeping the cabin door in a static state or a quasi-static state when the cabin door rotates to any angle can be measured, and the resultant moment of unfolding of the cabin door can be calculated by combining the force arm of the force. The cabin door expansion resultant moment can be measured by respectively measuring under the two states of carrying and not carrying the cable and the pipeline load, and the resistance moment brought by the cable and the pipeline load is calculated; if the initial driving torque of the cabin door at different angles is known, the resistance torque generated by the cabin door in the unfolding process can be calculated.

The application relates to the technical field of automobile control, and provides a brake calibration method for an electric automobile, which comprises the following steps: S1, sampling speed values according to a set step length in a speed range, and calculating maximum reverse drag torques T1 corresponding to all speed values; S2, selecting a speed value, determining expected reverse drag torques T2 under different brake pedal opening degrees at the current speed value, and outputting the smaller value in the maximum reverse drag torque T1 and the expected reverse drag torque T2; S3, based on the output reverse drag torque T f calculating a current wheel end resistance F m of the vehicle based on the resistance received by the whole vehicle, calculating a deceleration a of the vehicle, adjusting the expected reverse drag torque T2 corresponding to each brake pedal opening degree at the current speed based on the deceleration a until the deceleration a of the vehicle reaches an expected deceleration a 期 , and executing the step S2. When the vehicle is controlled based on the expected reverse drag torque, the driving and riding stability of the vehicle during braking is improved, that is, the driving and riding comfort of the driver and passengers is improved.

The utility model relates to a brake disc detection device. The detection device comprises a driving assembly, a torque sensor, a bounce sensor and a control and processing assembly. The drive assembly includes a rotatable rotor. The torque sensor comprises a rotor connecting shaft and a brake disc connecting shaft which are coaxially arranged, and the torque sensor can generate a first electric signal when the rotor connecting shaft and the brake disc connecting shaft relatively rotate around the axes of the rotor connecting shaft and the brake disc connecting shaft. And the jumping sensor can generate a second electric signal when the detection head displaces. The control and processing assembly is electrically connected with the driving assembly, the torque sensor and the jumping sensor, the control and processing assembly is used for controlling starting and stopping of the driving assembly, and the control and processing assembly determines the dragging torque of the brake disc according to a first electric signal input by the torque sensor; and end face runout of the brake disc is determined according to a second electric signal input by the runout sensor. According to the scheme, the accuracy of the detection result of the dragging torque and the end face run-out is improved.