1241 results about "Traction motor" patented technology

The invention provides a subway train traction energy efficiency optimization data transmission control method and system. The method comprises the following steps: acquiring numerical values of vibration parameters when a traction motor of a subway train runs, and segmenting the numerical values of the vibration parameters according to preset time granularity; calculating a comprehensive weight index of each time sequence unit based on the vibration amplitude, the frequency distribution and the phase angle parameter, and generating a dynamic code rate hierarchical allocation strategy in combination with the real-time state of the network transmission bandwidth and a control instruction reservation mechanism; and establishing a multi-dimensional parameter association model based on the numerical value of the vibration parameter, a dynamic code rate hierarchical allocation strategy, the real-time power state of each power electronic device, and the torque output instruction and energy recovery threshold feedback parameter, and dynamically adjusting a data transmission rule through the multi-dimensional parameter association model. According to the technical scheme provided by the invention, the accuracy of subway train traction energy efficiency optimization data transmission control is improved.

Presented are high-voltage (HV) electrical system architectures for vehicle-to-vehicle (V2V) charging of vehicle batteries, methods for making / using such systems, and vehicles equipped with such systems. An HV electrical system for a motor vehicle includes a main HV bus that electrically connects the vehicle's traction motor(s) to the vehicle's battery pack(s), and a charging inlet port that electrically mates with and receives direct-current (DC) power from DC fast-charging (DCFC) cables of a donor vehicle and a charging station. A DC-to-DC (DC-DC) converter is interposed between and electrically connects the charging inlet port to the main HV bus. The DC-DC converter is operable in a bypass mode, in which the DC-DC converter passes therethrough DC power received from the DCFC cable of the charging station, and a vehicle-to-vehicle (V2V) mode, in which the DC-DC converter modulates DC power received from the DCFC cable of the donor vehicle.

The invention relates to the technical field of traction motor coil machining, and particularly discloses full-automatic coil paint dipping equipment which comprises a base, supporting legs are fixedly installed at the four corners of the top of the base, a fourth motor is used for driving a driving gear, and a guide roller is made to rotate through linkage of an outer gear ring, a driven gear, a rotating shaft, a synchronous belt and a synchronous wheel; the situation that the clamping position cannot make contact with paint liquid is avoided, the paint liquid shakes more uniformly, drying is more uniform through rotation of the stator during drying, meanwhile, the paint liquid is heated through an electric heating coil pipe, fluidity can be improved, bubble discharging and chemical reaction are facilitated, and the paint dipping effect is improved, and a sixth motor drives a power gear to make an inner gear ring rotate. The stirring plate directly stirs paint liquid, the guide plate enables the paint liquid to roll up and down, the paint liquid efficiently flows and can make better contact with a coil, the paint dipping quality is improved, the design is matched with one another, the paint dipping and drying process is optimized from multiple aspects, and the product quality is guaranteed.

The invention discloses a hybrid crawler tractor for hills and mountains and a control method. The hybrid crawler tractor comprises a power system, a transmission system, an energy storage system, a driving system and a control system, the power system comprises an engine, a generator and a clutch; the transmission system comprises a mechanical coupling device, a gearbox, a power output shaft and the like; the energy storage system comprises a photovoltaic power generation panel and an energy storage device; the driving system comprises a driving system input shaft, left and right traction motors, left and right planet rows, driving wheels and the like; the control system comprises a whole vehicle controller, an energy storage device controller, a motor controller, an engine controller, a vehicle information sensor, a clutch control unit, a brake control unit and the like. According to the crawler tractor, a double-engine and motor mixed connection double-power flow structure is adopted, operation and running under various complex working conditions in hills and mountains are met, rich solar resources in the region are fully utilized, the advantages of a traditional crawler tractor and a new energy tractor are considered, and long-time operation in busy farming seasons is guaranteed.

The invention relates to the field of locomotive power battery electric quantity control, and particularly discloses a locomotive power battery electric quantity hysteresis equalization control method, which comprises the following steps that: a traction force exerting mode is reset into an axle load transfer mode, and the initial value of an electric quantity equalization compensation coefficient K is a rack axle load transfer coefficient corresponding to zero speed; judging whether the current mode is a power battery power supply mode; if yes, the TCU receives the electric quantity of a front power battery and the electric quantity of a rear power battery in real time according to the current locomotive working mode, calculates the electric quantity average value difference value, monitors the auxiliary load power and the traction motor power and calculates the power difference value; entering a hysteresis control logic process; calculating a dynamic traction force compensation coefficient, ensuring that the traction force compensation amount is matched with the actual load characteristic of the system, correcting the traction characteristic curve in real time, and dynamically compensating the electric quantity difference of the battery; and performing traction distribution control according to the locomotive speed and outputting corresponding traction.

The invention discloses an electric locomotive three-dimensional digital-analog simulation teaching system constructed based on an unreal engine technology, and relates to the technical field of electric locomotive teaching. Comprising a three-dimensional model construction module which is used for generating a hierarchical three-dimensional model of electric locomotive equipment through combination of polygon modeling and parametric modeling; and the physical engine interaction module is integrated with an unreal engine physical system and is configured to process the real-time solution of the locomotive kinetic parameter equation set. According to the method, a highly accurate three-dimensional model is created by combining polygon modeling and parametric modeling on the complex equipment of the electric locomotive, the model can support detailed level-of-detail rendering so as to adapt to different observation distances, and in the physical engine interaction module, the model can be applied to the physical engine interaction module. Through the train longitudinal dynamics calculation unit, the traction transmission simulation unit and the braking system modeling unit, the system can simulate non-linear changes in the wheel-rail contact force, traction motor torque transmission and tread braking process in real time, so that various dynamic effects can be visually displayed in the teaching process.

The invention discloses a novel motor train unit traction motor temperature intelligent prediction method and system, and relates to the technical field of deep learning. Comprising the following steps: in position coding, changing an absolute position code into a variable position code so as to better adapt to temperature sequences with different lengths; in an encoder and a decoder, designing causal convolution multi-head self-attention, applying the causal convolution multi-head self-attention to a multi-head self-attention layer, and extracting global features and local features of traction motor temperature data at the same time; based on a non-autoregressive output strategy, taking the input data as the input of a decoder, and eliminating an accumulated error generated by taking the output of the encoder as the input; the encoder extracts a traction motor temperature memory information matrix, and the decoder captures the traction motor temperature change at the approaching moment, and performs attention calculation on the traction motor temperature change and the traction motor temperature memory information matrix to predict the temperature trend at the future moment; the problem of low temperature prediction precision caused by neglecting local context information and accumulative errors is solved.

An ultra low cost electric vehicle heating apparatus, components thereof, and related method are herein described. A driver circuit operates a switching device at an intermediate state between fully-turned-off and fully-turned-on, in a high power dissipation heating mode, to efficiently produce heat energy for heating a passenger compartment, or energy storage system, of an electric vehicle. The driver circuit operates the switching device to have a fully-turned-off state and a fully-turned-on state in a main function mode for a traction inverter or an energy storage system charger of the electric vehicle. The driver circuit is operable to cycle the heating mode and the main function mode for combining such heating and such main function operation of the traction inverter, or the charger, without compromising the operation of the traction motor, or charger, while simultaneously eliminating many of the expensive resistive heating components in use by practitioners of the art.

A locomotive comprises a DC power bus, traction motors, batteries, and a charging source, but has no prime mover engine. Each traction motor includes armature and field windings connected in parallel across the DC power bus. The batteries provide power to the DC power bus when in a motoring mode, and receive power from the DC power bus when in a charging mode and a dynamic braking mode. The charging source is connected across the DC power bus to provide charging power to the batteries when in the charging mode. The traction motors also provide charging power to the batteries when in the dynamic braking mode. The power from the charging source is less than the power that would be provided by a prime mover engine. The charging source provides no power to the traction motors when in the charging mode.

The invention discloses a traction motor turn-to-turn short circuit fault detection method and device, a medium and equipment. The method comprises the following steps: acquiring a three-phase current signal of a traction motor to be detected; the three-phase current signal is preprocessed; constructing a traction motor turn-to-turn short circuit fault detection model, and training the model; and inputting the preprocessed three-phase current signal into the trained traction motor turn-to-turn short circuit fault detection model so as to detect whether the traction motor to be detected has a short circuit fault or not, and dividing fault grades. The detection precision of the inter-turn short circuit fault of the traction motor can be improved.

A braking assist method for a vehicle is described and includes receiving a brake switch signal indicative of a state of a mechanical brake actuation system; receiving a motor speed signal indicative of a speed of a traction motor, the traction motor for applying rotational torque to a wheel of the vehicle; determining from changes in a value of the received motor speed signal over time a rate of change of the traction motor speed; and, based on a determination that the mechanical brake actuation system is in an on state and that the rate of change of the traction motor speed is decreasing, commanding the traction motor to apply a supplemental braking torque to the wheel.

The invention provides a parameter calculation method and device of a permanent magnet traction motor. The PHM board card is used for collecting the three-phase current of the permanent magnet traction motor, the decoding angle of the rotary transformer, the on-off state of the inverter and the intermediate voltage in the operation process of the traction converter of the motor train unit, so that the inductance, resistance and permanent magnet flux linkage of the permanent magnet traction motor of the motor train unit are monitored in real time, and other hardware facilities do not need to be added; according to the parameter observation scheme disclosed by the invention, the motor parameters can be quickly obtained according to the high-sampling-rate parameters, and an effective reference can be provided for motor state fault early warning.

The utility model relates to the technical field of locomotive traction motor disassembly and maintenance, in particular to a bearing seat withdrawing device which comprises a supporting rod arranged in the center of a bearing seat, a hollow jack is sleeved outside the supporting rod, and a connecting plate is installed on the end face of one end of the bearing seat. The connecting plate comprises a central mounting hole and mounting wing plates diverging outwards from the central mounting hole; an annular mounting arm protruding towards one side of the supporting rod is arranged at the end, away from the bearing seat, of the connecting plate and used for mounting a pulling plate, the pulling plate comprises a mounting end connected with the mounting arm and a stopping end arranged opposite to the mounting end, and the pulling plate surrounds the outer wall of the hollow jack; one end of the hollow jack extends into the mounting arm, and the other end is close to the inner wall of the stop end. According to the bearing seat withdrawing device, the manual high-intensity operation process is eliminated, and the health of staff is guaranteed; the tool is simple in structure, convenient to operate and relatively low in manufacturing cost; the bearing seat can be disassembled by one person, and the maintenance cost is reduced.

The invention discloses an AGV ton bag material picking and placing control system which comprises a lifting hook assembly arranged on an AGV forklift, a controller and a battery used for supplying power. The controller is in signal connection with a pressure sensor, a lifting electromagnetic valve, a descending electromagnetic valve and a reset confirmation switch; the controller is in signal communication with the lifting hook assembly through a lifting hook relay; according to the ton bag material hanging system, locking and releasing of a lifting hook are achieved by controlling the motor of the lifting hook assembly to rotate forwards and backwards, ton bag materials are fixed and released, a door frame button prompts that hanging of the ton bag materials is completed, and state information of the ton bag materials is displayed through a stay wire encoder and a pressure sensor. The traction motor and the pump motor are used for moving between the goods taking and placing stations and executing the goods taking and placing actions, and then the AGV ton bag material carrying problem is solved.

The invention discloses a friction testing machine and a friction testing method for an elevator traction sheave under a micro-motion working condition, and relates to the technical field of elevator traction sheave tests.The friction testing machine comprises a workbench, a traction motor and a plurality of steel wire ropes, and an output shaft of the traction motor is coaxially provided with the traction sheave; a guide wheel is rotatably arranged on the workbench, a tensioning wheel is slidably arranged on the workbench, the moving direction of the tensioning wheel is parallel to the Z-axis direction, and the central axis of the tensioning wheel, the central axis of the guide wheel and the central axis of the traction wheel are parallel to one another; a plurality of steel wire ropes are wound on the tensioning wheel, the guide wheel and the traction wheel; the tensioning wheel is further in transmission connection with a telescopic mechanism enabling the tensioning wheel to move in the Z-axis direction. A control mechanism used for controlling the traction motor to slightly move on the workbench in the Y-axis direction is further arranged on the workbench. Through a simulation test, the stress state of the traction sheave in the test process can be controlled in combination with controllable temperature, controllable stress and controllable oil supply under the micro-motion state of the traction sheave, and the abrasion state of the traction sheave is researched.

The application discloses a control method and device of a vehicle and a storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: in response to the fault level being a target level and the first detection result indicating that the engine and the ISG motor are in a series working mode, setting the charging target power of the power battery connected in the high-voltage loop to 0, and performing speed closed-loop control on the ISG motor with a speed threshold value as a target speed; in response to the actual torque of the engine being less than 0 and the direct-current bus current being less than a current threshold value, controlling the power battery to be disconnected from the high-voltage loop, performing speed closed-loop control on the engine and voltage closed-loop control on the ISG motor; and supplying power to the traction motor (TM) motor by the ISG motor. The DC bus voltage can be stabilized in the case that the power battery is disconnected, so that the TM motor can stably drive the vehicle to safely travel in the case that the power battery fails.

The utility model discloses an insulating junction box for a traction motor, which comprises a junction box main body and a cover body, and the junction box main body is provided with a motor lead hole and a cable hole; the connection box main body and the cover body are both made of insulating materials, the connection box main body is provided with a first embedded body and a second embedded body, the first embedded body is located at the edge of the connection box main body, and the first embedded body is provided with a first inner screw hole used for installing the cover body; the second embedded body is arranged corresponding to the inner cavity of the connecting box main body, and the second embedded body is provided with a second inner screw hole; and the first embedded body, the second embedded body and the connecting box main body are integrally formed. According to the utility model, the junction box is made of an insulating material, thereby avoiding the large size of the junction box caused by the electrical clearance requirement of a metal junction box, and achieving the small size and light weight design; the first embedding body, the second embedding body, the third embedding body and the connecting box main body are integrally formed, so that a complicated assembling process is avoided, the labor intensity is reduced, and the motor assembling efficiency is improved.

The invention relates to a high-speed rail traction system motor temperature monitoring device based on an RBF neural network, belongs to the field of intelligent sensing, and solves the problems of low sensor precision and high early warning and false alarm rate. Comprising a plurality of traction motor temperature sensors which are distributed in each motor and used for measuring the temperature of the motor in real time, obtaining the current motor temperature and transmitting the current motor temperature to a microprocessor; the microprocessor performs nonlinear error temperature compensation on the current motor temperature monitored by the sensor by using an RBF neural network based on an improved particle swarm to obtain compensated motor temperature values, judges whether all the compensated temperature values are smaller than a first temperature threshold value or not, and sends a first early warning instruction to the early warning module if not; a speed reduction instruction is sent to a high-speed rail centralized control center, and a signal is sent to the air feeder corresponding to the motor with the compensated temperature value exceeding the preset temperature threshold value for cooling; if any one of all the compensated temperature values is larger than or equal to a second temperature threshold value, a stopping instruction is sent; and the early warning module performs early warning based on the early warning instruction. And accurate temperature monitoring is realized.

According to the pure electric underground dumper power assembly suspension structure, a dumper power assembly comprises a traction motor and a gearbox, the gearbox is connected with a dumper frame through a first suspension mechanism, and the traction motor is connected with the dumper frame through a second suspension mechanism; the first suspension mechanism comprises first frame end mounting seats fixed to the inner sides of frame edge beams on the two sides of the gearbox and a first equipment end mounting seat arranged between the first frame end mounting seats on the two sides. The second suspension mechanism comprises second equipment end mounting seats fixed to the two sides of the traction motor respectively and second frame end mounting seats fixed to the inner sides of the two frame edge beams respectively, the second equipment end mounting seats correspond to the second frame end mounting seats, and second vibration reduction assemblies are arranged between the second equipment end mounting seats and the second frame end mounting seats. The mounting seat is simple and reliable in structure, convenient to mount and high in space utilization rate; each supporting point of the power assembly is provided with an anti-vibration pad, vibration can be effectively isolated, and the torsional vibration influence of the power assembly is reduced.

The invention relates to the technical field of rail traffic monitoring, and discloses an urban rail vehicle driving analysis system based on digital twinning, which is characterized in that vehicle vibration and traction motor current signals are collected in real time through a vehicle-mounted sensing unit, and an edge feature extraction unit calculates energy ratio features of a predefined fault frequency band; the data transmission unit transmits the characteristic data and the working condition information to a digital twin platform, a digital fault tree model is arranged in the platform, and a cross-physical domain fault conduction path is analyzed and recognized through multi-source data coupling. Through combination of frequency band energy ratio characteristics and fault tree logical reasoning, electromechanical coupling fault risks which cannot be found by traditional isolated monitoring are effectively captured, meanwhile, a diagnosis threshold value is dynamically adjusted according to the wheel-rail adhesion state, and the diagnosis reliability under the complex working condition is improved.

The invention discloses winding equipment and a method for adjusting the tension of a coiled material. The winding equipment comprises a winding frame, a winding roller and a traction roller, wherein the winding roller and the traction roller are arranged on the winding frame; the winding roller is driven by a winding motor, and the traction roller is driven by a traction motor; a driven roller is further arranged on the winding frame, the driven roller and the traction roller are arranged side by side, and a corresponding coiled material penetrates through the space between the traction roller and the driven roller; the driven roller is driven by a driving device to translate and can be in contact with or away from the traction roller, and the coiled material is extruded when the driven roller is in contact with the traction roller; the surfaces of the traction rollers are made of smooth materials, and the surfaces of the driven rollers are made of rough materials. A tension sensor is further arranged on the winding frame and collects tension signals. Through the cooperation of the traction roller and the driven roller which can be in contact with each other and far away from each other, the equipment has a larger tension control range, and is not only suitable for thinner materials, but also suitable for materials with higher strength and larger thickness.

A control system for controlling a powertrain of an electric vehicle is disclosed. The powertrain comprises a traction motor and a battery for powering the traction motor. The control system is configured to detect a low state of charge of the battery and to operate the powertrain in a low state of charge mode when the low state of charge is detected. In the low state of charge mode, the control system adjusts at least one parameter of the powertrain, such as traction motor torque, powertrain cooling, accessory cooling and accessory power consumption, to reduce power drawn from the battery.

The invention discloses a hidden danger pre-diagnosis method of an elevator traction system, relates to the technical field of elevator safety monitoring, and is used for solving the technical problems of poor real-time performance, low accuracy and difficulty in defect positioning of hidden danger diagnosis of the elevator traction system in the prior art. The hidden danger pre-diagnosis method for the elevator traction system comprises the steps that multi-source data are synchronously collected, specifically, a current transformer is deployed in a power supply loop at the input end of an elevator traction motor to collect a three-phase current instantaneous value, a speed measurement encoder is used for measuring the speed, the elevator running state, the speed, the floor position and the time-variable load weight are synchronously obtained, and a time-space correlation data set is constructed; signal self-adaptive preprocessing: performing layered noise reduction, working condition alignment and dynamic normalization processing on the acquired current signals; multi-scale feature fusion extraction: current signal features are extracted from a basic feature layer, a time domain feature layer, a frequency domain and a time-frequency domain feature layer; and feature optimization and decision making: after feature screening and dimension reduction fusion, inputting a pre-training classification model to output hidden danger types, positions and risk levels.

The utility model relates to the technical field of traction motor bearing manufacturing, in particular to a deep groove ball bearing which comprises an outer ring, an inner ring, a plurality of rolling bodies and a retainer, the outer surface of the inner ring and the inner surface of the outer ring are respectively provided with a roller path for the rolling body to roll; the rolling body is located between the outer ring and the inner ring, and the retainer is located between the outer ring and the inner ring; the guide mode of the deep groove ball bearing is rolling body guide; the groove curvature coefficient of the outer ring is 0.520 Dw, and the groove curvature coefficient of the inner ring is 0.510 Dw. The curvature coefficient of the inner and outer ring channels is reduced by 0.005 Dw compared with a conventional bearing, and the contact area of the raceway and a rolling body is increased under the condition, so that the load borne by the unit area is reduced, the stress concentration and fatigue crack possibility is reduced, the operation temperature rise and vibration of the bearing under the high-speed working condition are reduced, and the fatigue life of the bearing is prolonged.

A working vehicle includes an electric storage device; a traction motor configured to propel the working vehicle and to generate electrical energy when braking; a hydraulic system including a hydraulic pump driven by a load motor, a hydraulic actuator and a control valve; and a control system. The control system is configured to determine a state of charge of the electric storage device; induce additional load on the hydraulic system by directing the load motor to drive the hydraulic pump and actuating the control valve to direct flow of hydraulic fluid to the hydraulic actuator when the state of charge is at or above a predetermined threshold.

A locomotive comprises a DC power bus, traction motors, batteries, and a charging source, but has no prime mover engine. Each traction motor includes armature and field windings connected in parallel across the DC power bus. The batteries provide power to the DC power bus when in a motoring mode, and receive power from the DC power bus when in a charging mode and a dynamic braking mode. The charging source is connected across the DC power bus to provide charging power to the batteries when in the charging mode. The traction motors also provide charging power to the batteries when in the dynamic braking mode. The power from the charging source is less than the power that would be provided by a prime mover engine. The charging source provides no power to the traction motors when in the charging mode.

The invention provides a mining electric locomotive group. The mining electric locomotive group comprises a control electric locomotive, a dumper, an electric transmission system and a power reconnection device, the control electric locomotive is provided with a control system, a first traction motor and a first bogie; the control system can control the first traction motor; the first bogie is a power bogie and is driven by a first traction motor; the dumper is provided with a second traction motor and a second bogie, and the second bogie is a bogie with power and is driven by the second traction motor; the electric transmission system is arranged on the control electric locomotive and is connected to the second traction motor; the electric locomotive is controlled to receive pantograph net power supply and supply power to the second traction motor through the electric transmission system; the power reconnection device is connected to the control electric locomotive and the dumper and comprises a reconnection connector, and the reconnection connector is connected with the control system, the electric transmission system and the second traction motor; the control system and the electric transmission system can respectively transmit electric energy and control signals to the second traction motor through the reconnection connector.

The invention discloses a high-voltage lithium battery cross-country telescopic arm type forklift which comprises a chassis driving part, a front driving steering axle and a rear driving steering axle, wherein the chassis driving part comprises a reduction gearbox, a traction motor is directly mounted on the front driving steering axle, and the rear driving steering axle is connected with an output flange at the lower end of the reduction gearbox through a transmission shaft; the front drive steering axle and the rear drive steering axle are both steering drive axles, an electric push rod can drive a clutch to achieve four-wheel-drive and two-wheel-drive function switching, steering of the front drive steering axle and the rear drive steering axle can be independently controlled, three modes of independent front wheel steering, crab-shaped steering and four-wheel concentric steering are achieved, and a steering kingpin-mounted angle sensor monitors the steering angle of wheels. According to the invention, the chassis driving part adopts the front driving steering axle and the rear driving steering axle which are integrated with the reduction gearbox, the traction motor is directly connected with the front axle and the reduction gearbox, and power transmission is realized through the transmission shaft. Meanwhile, the electric push rod controls the clutch, the four-wheel drive mode and the two-wheel drive mode can be rapidly switched, and the power requirements under different working conditions are met.

An onboard control system for controlling operation of a drive system of a rail vehicle or a train of coupled rail vehicles is provided. The drive system has extraction equipment to extract electrical power from an external electrical power line for onward supply to one or more traction motors of the drive system. The drive system further has an onboard energy storage system for supply of electrical power to the traction motors. The onboard energy storage system is rechargeable by receiving electrical power from the external electrical power line via the extraction equipment. The train has plural operational states which are at least partly defined by command signals from an operator of the train specifying respective amounts of torque demanded of the traction motors. The onboard control system has a database which relates the operational states to respective current limit values. The onboard control system is configured to: receive the command signals and on the basis thereof determine the present operational state of the train, and control the drive system such that electrical current passing through the extraction equipment does not exceed the current limit value from the database corresponding to the present operational state.

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.