365 results about "Traction system" patented technology

The invention provides a railway flexible traction system based on multi-source fusion. The system is composed of a central control unit, a V / v traction transformer unit and a multi-port flexible interconnection unit. The V / v traction transformer unit comprises a first power supply arm, a second power supply arm and a third power supply arm, the input ends of the V / v traction transformer unit are connected with a public power grid, the first and second power supply arms are connected to the multi-port flexible interconnection unit, and the third power supply arm provides passive support for a traction network. The multi-port flexible interconnection unit comprises a two-phase rectification module, a photovoltaic power generation module, an energy storage module and a single-phase inversion module which are commonly connected to a DC bus. The central control unit adjusts the output power of the multi-port flexible interconnection system and the control strategy of the single-phase inversion module in real time so as to realize flexible consumption of new energy and improvement of power supply stability. The system has the advantages of compatibility, cost effectiveness, new energy access and consumption, power supply reliability improvement, electric energy quality optimization, high adaptability and the like, and is suitable for upgrading and reconstruction of newly-built railway lines and existing railway lines.

The invention relates to the technical field of robots, in particular to a redundancy-driven variable-stiffness ankle joint structure which comprises an ankle assembly connected to a shank main body through a central hinge shaft; the dual-drive unit comprises a first drive unit and a second drive unit which are independently controlled, and the first drive unit and the second drive unit are fixedly mounted in the shank main body; the traction system comprises a first eccentric wheel and a second eccentric wheel which are coaxially connected with the output ends of the first driving unit and the second driving unit respectively; by means of a redundant drive framework and a variable rigidity adjusting mechanism, elastic buffering and dynamic rigidity adjusting can be achieved, the impact adaptability is improved, the dual-drive unit can be prevented from being directly impacted, and the service life of the dual-drive unit is prolonged. Damage to a motor gear is reduced, the rigidity can be quickly reduced for buffering in an impact scene, and the rigidity is improved for maintaining the posture during stable supporting.

This invention provides a reciprocating traction system, comprising two sets of longitudinal double-line reciprocating traction systems and one set of horizontal double-line reciprocating traction systems mounted on one side of an anchorage; the two longitudinal double-line reciprocating traction systems are respectively mounted on the upstream and downstream sides, and the horizontal double-line reciprocating traction system is connected to one end of the two longitudinal double-line reciprocating traction systems; the horizontal double-line reciprocating traction system includes a first towing track, a second towing track, a first horizontal traction mechanism, a second horizontal traction mechanism, and a horizontal traction machine; the first and second towing tracks are staggered; this invention can achieve the turning of the main cable strands without the need for a tower crane, reducing the construction period and labor costs associated with tower cranes, and the invention has low tonnage requirements for the horizontal traction machine of the main cable strands, which can reduce equipment investment costs; the method of this invention can achieve simultaneous turning and traction of two main cable strands, improving traction efficiency.

The invention discloses an intelligent cable traction system and a cable traction laying control method. A cable traction machine can electrically pull a traction rope and detect traction force in real time. And when the traction force exceeds a preset traction high threshold value, the cable winding and unwinding mechanism can be controlled to reduce the winding speed, so that the traction rope wound on the traction wheel is properly loosened, and the traction force is gradually recovered to be stable. And meanwhile, the cable winding and unwinding mechanism automatically adjusts the winding speed according to extrusion force data fed back by the pressure detection assembly, and it is ensured that the extrusion force is maintained within the preset parameter range. According to the embodiment of the invention, the extrusion force and the traction force are creatively combined, the winding speed of the cable winding and unwinding mechanism is comprehensively regulated and controlled, and the intelligent cable traction system is always in a reasonable working interval during traction and winding of the traction rope through an intelligent control mode, so that automatic traction and winding of the traction rope such as a steel wire rope are realized; therefore, the automatic traction operation of the cable connected with the traction rope is completed, and the intelligence and safety of cable laying construction are improved.

The invention discloses a main cable rapid traction method and system, and the method comprises the steps: arranging a traction winch and a main cable traction cable on a platform of a tunnel anchor portal of a starting bank, arranging in-tunnel traction systems in tunnel anchors on two banks, and completing the erection of the traction systems: arranging a cable disc beside a catwalk surface of the tunnel anchor portal of the starting bank, and rotating a cable strand into the catwalk surface through a steering wheel, pulling the cable strand by using an intelligent pulling device until a terminal bank tunnel anchor is reached; a main traction system is used for carrying out secondary dragging traction on a main cable passing section in the hole, then a traction system in a terminal bank hole is used for carrying out relay traction in the hole, and a cable strand anchor head is pulled to the front anchor face of a terminal bank anchor plug body and temporarily anchored; a tower crane, a crawler crane and a truck crane are matched to unfold a cable disc, and a cable head of a main cable strand on the cable disc is moved out; a traction system in the initial bank hole is used for pulling a cable strand head to the front anchor face of the anchor plug body, temporary anchoring is conducted, and traction is completed; by optimizing the traction system assembly and layout, the structure of the traction system is simplified, and the traction efficiency of the main cable strand is improved.

The invention relates to the technical field of roller coating hyperbolic aluminum plate machining control, in particular to an edge auxiliary traction system and method for longitudinal large-curvature forming of a roller coating hyperbolic aluminum plate. The edge auxiliary traction system comprises a clamping pre-deformation unit, when a main stretcher is started, a traction clamping jaw pulls down at a basic speed, and a dynamic proportional relation between the edge stretching speed and the central stretching speed is established; during stretching, when the displacement increment reaches a threshold value, the traction force is proportionally distributed according to the distance from the center line, the pull-down force is updated in real time, when the strain deviation exceeds the limit, a deviation area is positioned through a multi-modal array, the traction speed and the pull-down force of the area are increased, and the local curvature radius reaches a critical range, a reinforced traction mode is started; speed and plastic flow phase locking and grain orientation regulation and control are achieved, traction force is maintained till stress is released in the pressure maintaining stage, the longitudinal large-curvature forming precision of the roller-coated hyperbolic aluminum plate is improved, wrinkles and cracks are reduced, and the method is suitable for machining of the high-precision hyperbolic aluminum plate.

The utility model discloses a traction winding and unfolding type greenhouse heat preservation structure which comprises a supporting system, a traction system, a winding system, a power system and a control system. The supporting system is used for supporting, guiding and sealing in the moving process of the sliding heat preservation quilt, the sliding heat preservation quilt comprises a driving edge located at the length end of the sliding heat preservation quilt, and pulleys matched with guide rails of the supporting system are arranged at the two ends of the driving edge respectively. The traction system is used for providing direct traction force in the unfolding process of the sliding heat preservation quilt and providing tension force in the rolling process of the sliding heat preservation quilt. The winding system directly participates in winding in the winding process of the sliding heat preservation quilt and provides tension in the unfolding process of the sliding heat preservation quilt to avoid stall and over-unwinding of the heat preservation quilt. The power system provides a power source and a tension source in the unfolding and rolling process of the sliding heat preservation quilt. The control system controls the sliding heat preservation quilt to be unfolded and wound by controlling electric control components such as a motor, a traction brake and a winding brake.

The utility model provides a facial paralysis rehabilitation training robot which comprises a head-mounted robot body, a power system and a traction system, and the power system and the traction system are both installed on the head-mounted robot body. The head-mounted robot body is provided with a guide panel, the traction system passes through the guide panel from the head-mounted robot body and extends to a face area, and / or the traction system does not pass through the guide panel from the head-mounted robot body and extends to the face area; and the power system drives the traction system to pull or relax target facial muscles of the patient. The traction system is driven by the power system to move, appropriate force and resistance are applied to facial muscles of a patient to promote movement and activity of the muscles, the activity range of the facial muscles can be increased, neuromuscular connection can be improved, recovery of facial expressions can be promoted, and appropriate force and resistance can be provided; therefore, the patient is helped to gradually recover the functions of facial muscles.

A construction method of steel pipe lining in a linear hydraulic tunnel is provided, including the following steps: S1, symmetrically installing a plurality of pumping pipes and grouting pipes from two ends of a tunnel to a middle of the tunnel respectively; S2, conveying steel pipes into the tunnel from one end of the tunnel through a traction system and a jacking system in turn, and welding all the steel pipes as a steel pipe lining of the tunnel; S3, installing a plurality of supporting structures at a certain distance inside the steel pipe lining, and installing sealing plates between the steel pipes at two ends of the tunnel and the tunnel; S4, pouring fine aggregate concrete from the middle of the tunnel to outside in turn; and S5, sequentially pouring cement slurry from the middle of the tunnel to the outside through the plurality of the grouting pipes.

The invention provides a bumper assembly low-speed collision test system and method, and the system comprises a mobile barrier trolley, a universal rapid installation clamp, a multi-sensor integrated measurement module, and a data collection and processing system, and can adapt to different bumper assemblies to be tested through the universal rapid installation clamp, simulates the real collision process, and improves the test precision. In the process that the traction system drives the movable barrier trolley to move along the track to conduct the collision test, the multi-sensor integrated measurement module can collect collision data and draw a data curve, and the accuracy of the collision test result is improved. And then the data acquisition and processing system scores the maintenance economy, the energy absorption efficiency, the passenger protectiveness and the structural integrity according to the collision data and the data curve, grades the collision test result according to the scoring result, and finally can output a depth test report containing rating and improvement suggestions. The method is used for supporting and improving the design and optimization capability of the bumper assembly.

Described here are methods, systems, and devices, useful for minimally invasive surgical procedures. The methods may include introducing a grasper through an opening into an abdominal cavity, grasping a portion of a left lobe of a liver with the grasper, rotating the grasper towards a control element located outside the abdominal cavity by applying a magnetic field to the grasper across a body wall, and moving the control element over a set of ribs such that the liver bends into a folded configuration.

The invention provides a traction system with broken wire detection device, and aims to solve the problem of how to realize online detection of broken wire. The traction system comprises a traction wheel, a traction steel belt and a rope head combination, and further comprises a normally open relay and a power supply. Two ends of the coil of the normally open relay are connected to the positive pole of the power supply and the rope head respectively, the negative pole of the power supply is grounded, and the normally open contact of the normally open relay serves as a switch of an alarm circuit. The traction system has the positive effect of realizing online detection of whether the traction system has the phenomenon of broken wire, and eliminating the hidden danger of the traction system.

The invention discloses a pantograph conductive structure without a supporting insulator. The pantograph conductive structure comprises a conductive rod, a sliding rail group, an upper arm plate and two flexible wire groups, the upper end of the conducting rod is hinged with the upper arm plate, and the lower end is connected to the slide rail group; the upper arm plate is connected with the conducting rod through a flexible wire set, the conducting rod is connected with the sliding rail set through another flexible wire set, and movable connection with the pantograph is achieved. The problem that a current fixed connection transmission mode of a traditional pantograph with a supporting insulator cannot meet the movable current transmission requirement of the pantograph without the supporting insulator is solved, the pantograph can be self-adapted to various states of working or falling of the pantograph, effective current transmission of the pantograph without the supporting insulator is achieved, and electric energy is provided for a vehicle traction system.

The invention relates to a folded plate type folding traction system and method for trenchless pipeline repair. The system comprises a traction machine, a feeding mechanism and a folding device used for folding a lining pipe, a pressing roller mechanism and a folding mechanism are arranged on a conveying platform of the folding device, the pressing roller mechanism is located on the feeding side of the conveying platform and provided with a transverse roller pair, and the two sides of an upper roller of the pressing roller mechanism are each provided with an annular protrusion used for pressing an indentation; the folding mechanism is located in front of the pressing roller mechanism and provided with a left folding plate and a right folding plate, the folding plates are rotationally connected with the conveying platform through folding plate rotating shafts, and the folding plate driving device is in driving connection with the corresponding folding plate rotating shafts. According to the method, the traction system is adopted for traction of the lining pipe, and the lining pipe is automatically folded into a folded state when passing through the folding device. Automatic folding of the lining pipe is achieved, the labor intensity can be reduced, and the working efficiency can be improved.

The invention discloses a comprehensive diagnosis method for clamping, separating and clamping faults of a contactor for a traction converter, is used for solving the technical problem that faults are likely to be misreported in the prior art, and belongs to the technical field of converter fault diagnosis. The detection loop adopts a normally-open auxiliary switch parallel connection mode to feed back the state of the contactor, so that the false alarm rate of the contactor clamping failure can be reduced; the detection loop adopts a normally-open auxiliary switch series connection mode to feed back the contactor state, so that the clamping fault false alarm rate of the contactor can be reduced; the control unit adds a reset condition control strategy to reduce the fault false alarm rate; the control strategy that the control unit detects the state of the auxiliary switch of the contactor and detects whether the voltage and current values in the loop meet the threshold value can reduce the fault false alarm rate. The accuracy of fault diagnosis of the contactor for the traction converter is improved, the fault level is reduced to the maximum extent, meanwhile, the comprehensive diagnosis method is simple in judgment logic, the occupancy rate of computing resources of a control unit is low, and the overall performance of a traction system and the operation efficiency of a locomotive are improved.

The utility model relates to the technical field of wire cutting, and discloses a diamond wire cutting machine traction system which comprises a base, a diamond wire and a placing frame, the top of the base is fixedly connected with a supporting frame, the two sides of the top end of the supporting frame are rotationally connected with a wire inlet wheel and a wire outlet wheel respectively, and an encoder is arranged on one side of the wire outlet wheel. A first tension adjusting assembly and a second tension adjusting assembly are arranged on the two sides of one end of the supporting frame correspondingly, the first tension adjusting assembly and the second tension adjusting assembly each comprise a fixing support, and one side of each fixing support is rotationally connected with a first tension wheel and a fixed wheel. A traditional traction servo motor is omitted, a high-precision encoder is additionally arranged on a wire outlet wheel and serves as a constant-speed wheel to control stable operation of a whole wire net, a traction shaft cannot form a slipping effect in the whole operation process of equipment, and therefore the service life of the traction shaft is greatly prolonged, and the occupied area is reduced.

An autonomous utility vehicle can include a towing component. The vehicle can further include a fastening component attached to the towing component, and configured to fasten to a cable to be pulled by the vehicle. The vehicle can further include processor(s) coupled to a memory having instructions stored therein, which when executed by the processor(s), cause the vehicle to: detect a tension of the cable, determine whether the tension of the cable is detected, in response to determining that the tension of the cable is detected, determine whether the tension of the cable has exceeded a tension threshold, and in response to determining that the tension of the cable has exceeded the tension threshold, adjust at least one of: a speed of the vehicle or a heading of the vehicle.

The invention belongs to the technical field of shockproof devices, and particularly relates to a museum cultural relic shockproof base which comprises tempered glass, a damping mechanism and a main base. Through the dual energy dissipation design of the damping spring and the vibration damper of the traction system, earthquake impact energy is effectively absorbed, the damping spring buffers longitudinal impact through deformation, the vibration damper counteracts transverse vibration through inertia reverse vibration, and the fracture risk of the traction wire is remarkably reduced; the damping pendulum bob, the magnetic pole rod and the damping magnet are combined, horizontal vibration is counteracted through inertia of the pendulum bob, meanwhile, the swing amplitude is actively restrained through magnetic pole repulsive force, and cultural relics are prevented from being damaged by resonance.

One variation of a method includes, during a first time period: detecting a direction of motion of a trailer; detecting a first force applied to a kingpin; detecting an incline angle of the trailer; calculating a first target preload force opposite the direction of motion and inversely proportional to the incline angle; and in response to the first force falling below the first target preload force, triggering a motor to increase torque output opposite the direction of motion. The method further includes, during a second time period: detecting a second force applied to the kingpin; detecting a decline angle of the trailer; calculating a second target preload force opposite the direction of motion and inversely proportional to the decline angle; and in response to the second force falling below the second target preload force, triggering the motor to increase torque output opposite the direction of motion.

A traction system for a mobile support device, such as a prosthetic foot piece or a crutch, includes a chassis, a latch assembly, and a strap. The chassis is couplable to a distal end of the mobile support device to extend underneath a bottom side of the mobile support device and the latch assembly. The latch assembly includes a front catch and a rear catch, both of which are securable to a top side of the mobile support device, the front catch being closer to the distal end of the mobile support device than the rear catch, and a lever having a front end and a rear end, the front end being releasably latchable to the front catch, the rear end being releasably latchable to the rear catch when the lever is pivoted about the front end of the latch. The strap is secured to the lever and the chassis.

The invention discloses a harmonic suppression method and system of a rail transit electric traction system. The system comprises a traction unit harmonic response acquisition module, a traction group construction and intra-group influence analysis module, a traction group collaborative behavior analysis module, a collaborative suppression strategy generation module and a suppression resource regulation and control module. The method comprises the following steps: dividing a plurality of traction units on the same train into traction groups, analyzing harmonic response information of the traction units on a traction group level to generate comprehensive harmonic influence characteristics, analyzing action results of the plurality of traction groups on a traction power supply section level, and judging whether a harmonic collaborative amplification or collaborative instability trend exists or not; and thus, a collaborative harmonic suppression strategy for the traction group or the traction unit is generated. Through differential regulation and control on harmonic suppression resources and in combination with feedback correction, dynamic adjustment of a harmonic suppression process is realized, and pertinence of harmonic suppression under a complex operation condition and operation stability of a traction power supply system are improved.

The embodiment of the invention provides an ice melting loop of an urban rail train and the urban rail train. The urban rail train comprises a current collector, a traction system and a shaft end grounding device. The traction system comprises a traction converter, a traction motor and a brake resistor; the traction converter has an ice melting mode; wherein the traction converter is controlled by the traction controller to start an ice melting mode, when the ice melting mode is started, a brake chopping bridge of the traction converter is switched on to enable a brake resistor to be started, and no current conduction exists between the brake resistor and a traction motor; and the third rail for taking electricity by the current collector, the current collector, a brake chopping bridge of the traction converter, a brake resistor, a shaft end grounding device and the rail form an ice melting loop. According to the deicing method and device, the technical problem that the early-stage capital investment is large in a traditional deicing mode of the rail train is solved.

The invention belongs to the technical field of bridge construction, and particularly relates to a cast-in-place box girder formwork sliding device and a construction method thereof.The device comprises a sliding rail system, a formwork fixing platform and a traction system, the sliding rail system is formed by detachably splicing multiple sections of I-shaped steel, and the formwork fixing platform is of an integrated frame structure; a roller group matched with the sliding track system is arranged at the bottom of the template fixing platform, and an adjustable template rolling shaft is arranged at the top of the template fixing platform; the traction system is used for driving the template fixing platform to slide along the sliding rail system; the construction method comprises the steps of parameter matching, track laying and positioning, formwork mounting and fastening, sliding propulsion control, position correction locking and cyclic displacement operation, deviation is corrected through closed-loop regulation and control in sliding, and positioning adopts a three-level alignment and multiple locking positioning mechanism to guarantee precision; the problems existing in traditional cast-in-place box girder formwork construction are solved, and the construction goals of mechanization, high precision, high adaptability, safety and stability are achieved.

A cable crane comprises a main tower and an auxiliary tower, a lifting system, a traction system and a bearing system are installed on the main tower and the auxiliary tower, a trolley is installed on a bearing cable of the bearing system, the traction system pulls the trolley to move on the bearing cable in a reciprocating mode through a traction rope, a lifting rope of the lifting system winds around the trolley, and the lifting rope is located below the trolley. A lifting hook is installed through the movable pulley, a tensioning wheel set used for tensioning the traction rope is installed on the auxiliary tower, the tensioning wheel set comprises a sliding wheel and a sliding seat, the sliding wheel is rotatably installed on the sliding seat, a sliding frame is further installed on the auxiliary tower, the sliding seat is installed on the sliding frame in a sliding and adjustable mode, a hydraulic oil cylinder is installed on the sliding frame, and the hydraulic oil cylinder is connected with the sliding seat. And the sliding seat is pulled down through the contraction of the hydraulic oil cylinder, so that the traction rope is conveniently tensioned.

The invention discloses a cable traction system and a cable traction laying method. A cable traction machine can realize electric traction of a traction rope and detect the traction force in real time. When the sudden change of the traction force is detected, the cable winding and unwinding mechanism can be controlled to reduce the winding speed, so that the traction rope wound on the traction wheel is properly loosened, and the traction force is gradually recovered to a stable state. Meanwhile, the cable winding and unwinding mechanism automatically adjusts the winding speed according to extrusion force data fed back by the pressure detection assembly, and it is ensured that the extrusion force is always kept within the preset parameter range. According to the embodiment of the invention, the extrusion force and the traction force are creatively combined to comprehensively regulate and control the winding speed of the cable winding and unwinding mechanism, and through the intelligent control mode, it is guaranteed that the cable traction system is always in a reasonable working range in the traction and winding process of the traction rope, and the cable traction efficiency is improved. Automatic traction and automatic winding of traction ropes such as steel wire ropes are successfully achieved, and then automatic traction operation of cables connected with the traction ropes is achieved.

The invention provides a factory-like rapid construction method for an underground long rigid pipeline, a plurality of underground factory units are planned and excavated along a pipeline line at intervals, each underground factory unit comprises an assembling unit and a traction unit, and the adjacent underground factory units are connected through a foundation pit; a travelling crane is arranged in the assembly unit, a traction system is arranged in the traction unit, an assembly jig frame is arranged in the foundation pit, and an underground factory greenhouse is installed above each underground factory unit and the foundation pit; the pipeline transport vehicle transports the pipeline sections into the assembling units, the travelling crane hoists the pipeline sections to the assembling jig frame, and all the pipeline sections are welded to form a pipeline with the designed length; the welded pipeline is driven by a traction system and assisted by a lifting type sliding support to move to a traction unit along the foundation pit; and then welding with a subsequent pipe section to form a continuous pipeline. The problems that underground long rigid pipelines are low in construction efficiency, installation precision and construction quality are solved.

The invention relates to the technical field of wind power plant equipment transportation, and provides an auxiliary uphill device suitable for a mountainous region wind power plant equipment transportation vehicle, which comprises fixed support columns arranged in pairs and symmetrically distributed on two sides of a transportation channel; the rolling equipment and the fixed supporting columns are arranged in a one-to-one correspondence manner; the movable pulley is detachably arranged on a semitrailer of the transport vehicle, and the movable pulley is located on the side, back on to the semitrailer, of the head of the transport vehicle; one end of the first steel wire rope is connected with the rolling equipment on the first side, and the other end of the first steel wire rope is connected with one side of the movable pulley; one end of the second steel wire rope is connected with the rolling equipment on the second side, and the other end is connected with the other side of the movable pulley. Loss caused by the fact that traction force is transmitted to the semitrailer through a vehicle head can be avoided, effective traction force is improved, and the problem that uphill power of a heavy-load transport vehicle is insufficient is solved; in addition, the two steel wire ropes and the movable pulley form double-side traction, a foundation is provided for direction adjustment of traction force, and direction deviation caused by single-side traction is avoided.

The utility model provides a screen structure relates to door and window technical field, including synchronous wheel one, two and with two meshed synchronous belt one group constitutes the traction system, synchronous wheel three, four and with two meshed synchronous belt two group constitutes the winding transmission system, power system, screen curtain mechanism and frame, synchronous wheel two, three are connected by transmission shaft no.

The invention discloses a novel floating dock traction system which comprises a track, and a ship moving trolley is arranged on the track. The ship moving trolley comprises a frame, and a motor, a follow-up gear, trolley wheels and a driving gear driven by the motor are arranged on the frame; the follow-up gear is arranged below the driving gear, and the driving gear is meshed with the follow-up gear; the trolley wheels are fixedly connected with the follow-up gear through a horizontal shaft; a first supporting component and a second supporting component are fixedly arranged on the frame, the first supporting component is connected with a vertical anti-overturning wheel, and the second supporting component is connected with a horizontal anti-overturning wheel; the track comprises a track panel and a track web fixedly arranged at the bottom of the track panel; the width of the track panel is greater than that of the track web; the trolley wheels are arranged above the track panel, and the vertical overturn-preventing wheels and the horizontal overturn-preventing wheels are arranged below the track panel. The traction device is compact in structure, high in traction efficiency, capable of saving cost and reducing deck area occupation and beneficial to cabin arrangement.

This invention relates to a noise reduction design method, processor, and storage medium for a rail transit vehicle traction system. The method includes: designing top-level parameters based on the train's top-level performance requirements; establishing a relationship model between the weight and noise of the traction system equipment based on the top-level parameters, performing a weighted analysis of lightweighting and noise factors, and adjusting the top-level design parameters to minimize the evaluation results; simulating the actual operating state of the traction system based on the adjusted top-level design parameters, combined with the traction system's operating line conditions, maximum operating ambient temperature, and altitude, and calculating the current curve; calculating the equipment operating loss curve based on the current curve and the traction system's operating characteristics, designing cooling system parameters, and selecting cooling components based on the cooling system parameters. Through this method, unnecessary performance redundancy in the traction system can be reduced, equipment weight can be lowered, thereby improving the lightweight performance of the traction system and significantly improving the environmental friendliness and ride comfort of rail transit vehicles.