CN105015523A - Braking-instruction converting control circuit of motor train unit - Google Patents
Braking-instruction converting control circuit of motor train unit Download PDFInfo
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- CN105015523A CN105015523A CN201510398945.8A CN201510398945A CN105015523A CN 105015523 A CN105015523 A CN 105015523A CN 201510398945 A CN201510398945 A CN 201510398945A CN 105015523 A CN105015523 A CN 105015523A
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- braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a braking-instruction converting control circuit of a motor train unit. The braking-instruction converting control circuit comprises a train circuit interface, a braking-instruction converting device, a braking control device and a train hook connector of a head train, wherein five data transmission lines are connected between the train circuit interface and the braking-instruction converting device and are used by the train circuit interface to output effective traction commands, effective braking commands, effective ATO commands, rescue commands for a motor train, and rescue commands for the motor train unit respectively to the braking-instruction converting device; the braking-instruction converting device is also connected with an one-grade braking relay, a two-grade braking relay, a three-grade braking relay, a four-grade braking relay, a five-grade braking relay, a six-grade braking relay and a seven-grade braking relay which are connected with the braking-instruction converting device through data transmission lines respectively; a one-grade braking train line, a two-grade braking train line, a three-grade braking train line, a four-grade braking train line, a five-grade braking train line, a six-grade braking train line and a seven-grade braking train line are connected with the train hook connector of the head train and connected to the braking control device. According to the braking-instruction converting control circuit disclosed by the invention, the voltage of 3-8VDC, output by a driver controller, is divided into seven grades, and the seven grades respectively correspond to the braking of seven grades, so that the hard-wired instructions are convenient to back up; besides, the braking-instruction converting control circuit can also be matched with a mature braking system of the motor train unit.
Description
Technical field
The present invention relates to a kind of motor train unit braking instruction conversion control circuit, belong to motor train unit vehicle control electronics technical field.
Background technology
Brake system, as one of motor train unit critical system, plays the vital function ensureing train normal operation and ensure passenger safety.The variation of control for brake instruction, redundancy are one of important indicators evaluating train instruction secure.
Flourish due to network technology, the normal control for brake instruction of motor train unit adopts network to carry out resolving and transmitting mostly, but in order to increase safety and reliability, in addition, motor train unit also must arrange the control for brake instruction of backup by rigid line, the instruction of rigid line control for brake except when motor train unit network failure as subsequent use, running through of braking instruction line can also be carried out when different model motor train unit are rescued to rescue mutually, when also can rescue motor train unit as locomotive " gas instruction " be converted into the carrier of " electric instruction ".
The many employings of braking instruction 7 grades of brake mode (1 ~ 7 grade of braking) of the brake system of motor train unit, controller directly can export 7 grades of braking instructions, controls for network and rigid line.
The mature system that the brake system of intercity motor train unit adopts motor train unit to use is in safety or all secure on reliability.But the similar urban track traffic of operation enterprise schema of intercity motor-car, the mode that its signal system and controller may adopt " stepless " to regulate in the output of braking instruction.
Summary of the invention
In order to solve above-mentioned Problems existing, the invention discloses a kind of motor train unit braking instruction conversion control circuit, its concrete technical scheme is as follows:
A kind of motor train unit braking instruction conversion control circuit, comprise vehicle circuit interface, braking instruction transfer device, braking force control system and head car hitch adaptor union, 5 signal instruction lines are connected with between described vehicle circuit interface and braking instruction transfer device, be respectively used to vehicle circuit interface and export traction effective order, braking effective order, ATO effective order, locomotive rescue order and motor train unit rescue order to braking instruction transfer device
Described braking instruction transfer device also connects 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays, described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays are connected braking instruction transfer device with 7 grades of braking relays respectively by respective signal instruction line
Described head car hitch adaptor union connects 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines, described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are all connected to braking force control system
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with diode, this diode is used for having prevented counter-current from causing crosstalk, the negative pole of described all diodes is connected to braking force control system, the positive pole of all diodes connects car hitch adaptor union to the end
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with relay normally open contact, and by corresponding Control, described relay normally open contact is between head car hitch adaptor union and corresponding rectifier diode
1 grade of braking relay open contact on described 1 grade of braking train line is controlled by 1 grade of braking relay, 2 grades of braking relay open contacts on described 2 grades of braking train lines are controlled by 2 grades of braking relays, 3 grades of braking relay open contacts on described 3 grades of braking train lines are controlled by 3 grades of braking relays, 4 grades of braking relay open contacts on described 4 grades of braking train lines are controlled by 4 grades of braking relays, 5 grades of braking relay open contacts on described 5 grades of braking train lines are controlled by 5 grades of braking relays, 6 grades of braking relay open contacts on described 6 grades of braking train lines are controlled by 6 grades of braking relays, 7 grades of braking relay open contacts on described 7 grades of braking train lines are controlled by 7 grades of braking relays.
Described braking instruction transfer device is also connected with network control system TCMS, and braking instruction transfer device exports failure alarm signal to network control system TCMS.
Described braking instruction transfer device also connects controller, and described controller exports handle braking order analog quantity to braking instruction transfer device.
Described braking instruction transfer device also connects ATO auto mat, and described ATO auto mat exports ATO braking instruction analog quantity to braking instruction transfer device.
Described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays are independently controlled by braking instruction transfer device and ground connection successively.
Principle of work of the present invention is:
3 ~ 8V DC voltage that controller exports by the present invention carries out classification, be divided into 7 ranks, corresponding 1 ~ 7 grade of braking respectively, and consider that the output of controller potential device exists the error of 0.1V, fluctuating back and forth at braking rank classification point to prevent voltage causes the braking rank of non-subjective intention change, solves this problem by the return difference applying setting ± 0.1V between alleviation in same braking.Train arranges corresponding 1 ~ 7 grade of braking relay, when every one-level braking activates, activates corresponding relay, by relay contact output train line, each braking force control system is delivered in instruction, realize the braking instruction backup of rigid line.When Internet Transmission goes wrong, train cannot, by reading current braking instruction by rigid line during network reception braking instruction, apply to brake accordingly.The braking train line of 1 ~ 7 grade of braking instruction relay activation is connected on head hitch adaptor union, when train heavily joins rescue, is transferred to the braking instruction of tow lift by tow lift by braking train line.
When braking instruction modular converter et out of order, an exportable signal, to the network control system TCMS of vehicle, informs this module et out of order, and prompting driver takes corresponding measure.
The invention has the beneficial effects as follows:
3 ~ 8V DC voltage that controller exports by the present invention carries out classification, is divided into 7 ranks, respectively corresponding 1 ~ 7 grade of braking, to realize the backup of rigid line instruction, also can match with the brake system of motor train unit maturation simultaneously.
The control circuit of braking instruction provided by the invention conversion, considered rigid line backup, motor train unit rescued mutually, locomotive rescue, the situation such as automatic Pilot, the driving safety of raising motor-car.
Accompanying drawing explanation
Fig. 1 is that braking instruction dress changes control circuit schematic diagram,
Fig. 2 is controller braking output voltage characteristic figure,
Fig. 3 is braking instruction control circuit instructions parse figure.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, illustrate the present invention further.Following detailed description of the invention should be understood only be not used in for illustration of the present invention and limit the scope of the invention.
Fig. 1 is that braking instruction dress changes control circuit schematic diagram, visible by reference to the accompanying drawings, this a kind of motor train unit braking instruction conversion control circuit, comprise vehicle circuit interface, braking instruction transfer device, braking force control system and head car hitch adaptor union, 5 signal instruction lines are connected with between described vehicle circuit interface and braking instruction transfer device, be respectively used to vehicle circuit interface and export traction effective order to braking instruction transfer device, braking effective order, ATO effective order, locomotive rescue order and motor train unit rescue order, braking instruction transfer device receives and draws effective order accordingly, braking effective order, ATO effective order, locomotive rescue order and motor train unit rescue order.
Described braking instruction transfer device also connects 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays, described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays are connected braking instruction transfer device with 7 grades of braking relays respectively by respective signal instruction line, 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, voltage can be classified into 7 grades by 6 grades of braking relays and 7 grades of braking relays, be convenient to independently control.
Described head car hitch adaptor union connects 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines, described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are all connected to braking force control system, 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines transmit corresponding level voltage and executive command respectively.
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with diode, this diode is used for having prevented counter-current from causing crosstalk, the negative pole of described all diodes is connected to braking force control system, the positive pole of all diodes connects car hitch adaptor union to the end
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with relay normally open contact, and by corresponding Control, described relay normally open contact is between head car hitch adaptor union and corresponding rectifier diode
1 grade of braking relay open contact on described 1 grade of braking train line is controlled by 1 grade of braking relay, 2 grades of braking relay open contacts on described 2 grades of braking train lines are controlled by 2 grades of braking relays, 3 grades of braking relay open contacts on described 3 grades of braking train lines are controlled by 3 grades of braking relays, 4 grades of braking relay open contacts on described 4 grades of braking train lines are controlled by 4 grades of braking relays, 5 grades of braking relay open contacts on described 5 grades of braking train lines are controlled by 5 grades of braking relays, 6 grades of braking relay open contacts on described 6 grades of braking train lines are controlled by 6 grades of braking relays, 7 grades of braking relay open contacts on described 7 grades of braking train lines are controlled by 7 grades of braking relays.1 grade of braking relay is often opened tactile, 2 grades of braking relays and is often opened tactile, 3 grades of braking relays and often open tactile, 4 grades of braking relays and often open tactile, 5 grades of braking relays and often open tactile, 6 grades of braking relays and often open and to touch and 7 grades of braking relays often open the connection situation touched and control 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines respectively, realizes independently controlling.
Described braking instruction transfer device is also connected with network control system TCMS, and braking instruction transfer device exports failure alarm signal to network control system TCMS.When braking instruction transfer device et out of order, failure alarm signal can be transmitted in time to network control system TCMS, remind chaufeur to take corresponding measure.
Described braking instruction transfer device also connects controller, and described controller exports handle braking order analog quantity to braking instruction transfer device.Described braking instruction transfer device also connects ATO auto mat, and described ATO auto mat exports ATO braking instruction analog quantity to braking instruction transfer device.The output signal of controller and ATO auto mat, all through the process of braking instruction transfer device, then enters actuating unit.
Described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays are connected and ground connection successively.Ground connection guarantees the use safety of 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays.
Concrete example illustrates the present invention below:
Fig. 2 is controller braking output voltage characteristic figure, and as seen from the figure, it is analog quantity that intercity motor train unit controller and signal system export control for brake instruction, wherein:
Electrical null 3 ± 0.1V DC
Braking dominant bit 8 ± 0.1V DC
Be linear convergent rate between zero-bit and braking dominant bit, zero-bit is to braking dominant bit corresponding 0 ~ 100% braking force respectively.
3 ~ 8V DC voltage that controller exports is carried out classification, is divided into 7 ranks, respectively corresponding 1 ~ 7 grade of braking (specifically see table 1).And consider that the output of controller potential device exists the error of 0.1V, fluctuating back and forth at braking rank classification point to prevent voltage causes the braking rank of non-subjective intention change, solves this problem (specifically see Fig. 3) by the return difference applying setting ± 0.1V between alleviation in same braking.
Table 1: braking instruction control circuit input-output characteristic
Train arranges corresponding 1 ~ 7 grade of braking instruction relay, when every one-level braking activates, activates corresponding relay, by relay contact output train line, each braking force control system is delivered in instruction, realize the braking instruction backup of rigid line.When Internet Transmission goes wrong, train cannot, by reading current braking instruction by rigid line during network reception braking instruction, apply to brake accordingly.The braking train line of 1 ~ 7 grade of braking instruction relay activation is connected on head hitch adaptor union, when train heavily joins rescue, is transferred to the braking instruction of tow lift by tow lift by braking train line.
When braking instruction modular converter et out of order, an exportable signal, to the network control system (TCMS) of vehicle, informs this module et out of order, and prompting driver takes corresponding measure.
The present invention, except to except the conversion of controller braking instruction, can also export analog quantity to ATO and carry out dress and change.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned technological means, also comprises the technical scheme be made up of above technical characteristic combination in any.
With above-mentioned according to desirable embodiment of the present invention for enlightenment, by above-mentioned description, relevant staff in the scope not departing from this invention technological thought, can carry out various change and amendment completely.The technical scope of this invention is not limited to the content on specification sheets, must determine its technical scope according to right.
Claims (5)
1. a motor train unit braking instruction conversion control circuit, it is characterized in that comprising vehicle circuit interface, the braking instruction transfer device for instruction transformation, the braking force control system for instruction execution and head car hitch adaptor union, 5 signal instruction lines are connected with between described vehicle circuit interface and braking instruction transfer device, be respectively used to vehicle circuit interface and export traction effective order, braking effective order, ATO effective order, locomotive rescue order and motor train unit rescue order to braking instruction transfer device
Described braking instruction transfer device also connects 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays, described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays connect braking instruction transfer device respectively by respective signal instruction line
Described head car hitch adaptor union connects 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines, described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are all connected to braking force control system
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with diode, this diode is used for having prevented counter-current from causing crosstalk, the negative pole of described all diodes is connected to braking force control system, the positive pole of all diodes connects car hitch adaptor union to the end
Described 1 grade of braking train line, 2 grades of braking train lines, 3 grades of braking train lines, 4 grades of braking train lines, 5 grades of braking train lines, 6 grades of braking train lines and 7 grades of braking train lines are respectively arranged with relay normally open contact, this relay normally open contact is respectively by corresponding Control, described relay normally open contact is between head car hitch adaptor union and corresponding rectifier diode
1 grade of braking relay open contact on described 1 grade of braking train line is controlled by 1 grade of braking relay, 2 grades of braking relay open contacts on described 2 grades of braking train lines are controlled by 2 grades of braking relays, 3 grades of braking relay open contacts on described 3 grades of braking train lines are controlled by 3 grades of braking relays, 4 grades of braking relay open contacts on described 4 grades of braking train lines are controlled by 4 grades of braking relays, 5 grades of braking relay open contacts on described 5 grades of braking train lines are controlled by 5 grades of braking relays, 6 grades of braking relay open contacts on described 6 grades of braking train lines are controlled by 6 grades of braking relays, 7 grades of braking relay open contacts on described 7 grades of braking train lines are controlled by 7 grades of braking relays.
2. a kind of motor train unit braking instruction conversion control circuit according to claim 1, is characterized in that described braking instruction transfer device is also connected with network control system TCMS, and braking instruction transfer device exports failure alarm signal to network control system TCMS.
3. a kind of motor train unit braking instruction conversion control circuit according to claim 2, is characterized in that described braking instruction transfer device also connects controller, and described controller exports handle braking order analog quantity to braking instruction transfer device.
4. a kind of motor train unit braking instruction conversion control circuit according to claim 3, is characterized in that described braking instruction transfer device also connects ATO auto mat, and described ATO auto mat exports ATO braking instruction analog quantity to braking instruction transfer device.
5. a kind of motor train unit braking instruction conversion control circuit according to claim 4, is characterized in that described 1 grade of braking relay, 2 grades of braking relays, 3 grades of braking relays, 4 grades of braking relays, 5 grades of braking relays, 6 grades of braking relays and 7 grades of braking relays is independently controlled by braking instruction transfer device and ground connection successively.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510398945.8A CN105015523B (en) | 2015-07-08 | 2015-07-08 | A kind of EMUs braking instruction conversion control circuit |
| PCT/CN2016/089378 WO2017005214A1 (en) | 2015-07-08 | 2016-07-08 | Brake instruction conversion and control circuit for multiple unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510398945.8A CN105015523B (en) | 2015-07-08 | 2015-07-08 | A kind of EMUs braking instruction conversion control circuit |
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| Publication Number | Publication Date |
|---|---|
| CN105015523A true CN105015523A (en) | 2015-11-04 |
| CN105015523B CN105015523B (en) | 2017-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510398945.8A Active CN105015523B (en) | 2015-07-08 | 2015-07-08 | A kind of EMUs braking instruction conversion control circuit |
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| CN (1) | CN105015523B (en) |
| WO (1) | WO2017005214A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105788441A (en) * | 2016-05-06 | 2016-07-20 | 南京铁道职业技术学院 | Practical training device used for teaching of motor train unit braking system |
| WO2017005214A1 (en) * | 2015-07-08 | 2017-01-12 | 中车南京浦镇车辆有限公司 | Brake instruction conversion and control circuit for multiple unit |
| CN107792094A (en) * | 2016-08-31 | 2018-03-13 | 北京思维鑫科信息技术有限公司 | The method and apparatus for controlling locomotive automatic running |
| CN109878557A (en) * | 2019-01-30 | 2019-06-14 | 卡斯柯信号有限公司 | Wriggling driving mode realization method and system in a kind of fully automatic operation system |
| CN110758356A (en) * | 2019-12-03 | 2020-02-07 | 中车南京浦镇车辆有限公司 | Emergency braking control circuit based on coupler coupling detection |
| CN110816505A (en) * | 2019-11-18 | 2020-02-21 | 中车南京浦镇车辆有限公司 | Emergency brake extension control method based on vehicle coupling |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114291060B (en) * | 2022-01-04 | 2022-10-14 | 中车株洲电力机车有限公司 | Urban electric motor train unit, rescue mode analysis method, brake control method and system |
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| CN109878557A (en) * | 2019-01-30 | 2019-06-14 | 卡斯柯信号有限公司 | Wriggling driving mode realization method and system in a kind of fully automatic operation system |
| CN109878557B (en) * | 2019-01-30 | 2021-08-03 | 卡斯柯信号有限公司 | Method and system for realizing peristaltic driving mode in full-automatic operation system |
| CN110816505A (en) * | 2019-11-18 | 2020-02-21 | 中车南京浦镇车辆有限公司 | Emergency brake extension control method based on vehicle coupling |
| CN110758356A (en) * | 2019-12-03 | 2020-02-07 | 中车南京浦镇车辆有限公司 | Emergency braking control circuit based on coupler coupling detection |
| CN110758356B (en) * | 2019-12-03 | 2024-05-03 | 中车南京浦镇车辆有限公司 | Emergency braking control circuit based on coupler coupling detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105015523B (en) | 2017-10-20 |
| WO2017005214A1 (en) | 2017-01-12 |
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