CN114337401B - Start-stop control method and system for tracked vehicle and drive controller - Google Patents
Start-stop control method and system for tracked vehicle and drive controller Download PDFInfo
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- CN114337401B CN114337401B CN202111589787.6A CN202111589787A CN114337401B CN 114337401 B CN114337401 B CN 114337401B CN 202111589787 A CN202111589787 A CN 202111589787A CN 114337401 B CN114337401 B CN 114337401B
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Abstract
The application relates to a start-stop control method, a start-stop control system and a drive controller for a tracked vehicle, wherein the method comprises the following steps of: acquiring a starting signal, wherein the starting signal carries acceleration intensity; obtaining a voltage linear increment corresponding to the acceleration intensity according to a preset acceleration model; based on the voltage linear increment, the duty ratio of the PWM signal is adjusted, and the voltage output is increased to the brushless motor at regular time so as to enable the crawler to start. The crawler safety factor and riding comfort improvement method has the effect of improving the crawler safety factor and riding comfort.
Description
Technical Field
The application relates to the technical field of tracked vehicle control, in particular to a start-stop control method, a start-stop control system and a drive controller for a tracked vehicle.
Background
At present, a crawler is a tool vehicle applied to transportation in a complex environment, and has strong power, namely, can span various obstacles.
In the related art, a crawler-type orchard picking, trimming or bagging device generally comprises a support, a driving module and a storage box, wherein the driving module and the storage box are respectively connected to the support, the driving module comprises a crawler, a driving wheel, a driven wheel and a motor, the driving wheel and the driven wheel are respectively arranged in the crawler, the motor is connected with the driving wheel, the bottom of the storage box is connected with a lifting platform, and lifting rods and lifting hydraulic cylinders are fixed at the tops of the lifting platform and the support. When the robot is in operation, an operator starts the motor, the output shaft of the motor rotates to drive the driving wheel to rotate, the driving wheel drives the driven wheel to rotate, the caterpillar band can move on the ground, and the operator on the lifting platform can pick, trim or bagging the next tree.
In carrying out the present application, the inventors have found that at least the following problems exist in this technology:
when the tracked vehicle starts, the lifting platform moves horizontally, meanwhile, an operator stands on the lifting platform, the acceleration of the tracked vehicle for starting or braking is too fast, the operator is strong in contusion, and the operator can fall down due to the fact that the gravity center of inertia shifts.
Disclosure of Invention
In order to improve the condition that the acceleration of the tracked vehicle for starting or braking is too fast, so that the control system is strong in pause and the operator possibly falls down due to inertia, the application provides a starting and stopping control method, a starting and stopping control system and a driving controller for the tracked vehicle.
In a first aspect, the present application provides a start-stop control method for a crawler, which adopts the following technical scheme:
a start-stop control method for a crawler, comprising the steps of:
acquiring a starting signal, wherein the starting signal carries acceleration intensity;
obtaining a voltage linear increment corresponding to the acceleration intensity according to a preset acceleration model;
based on the voltage linear increment, the duty ratio of the PWM signal is adjusted, and the voltage output is increased to the brushless motor at regular time so as to enable the crawler to start;
when a brake signal is acquired, acquiring a current voltage output quantity and a current speed;
obtaining voltage linear decrement corresponding to the current voltage output quantity according to a preset deceleration model;
based on the voltage linear decrement, the duty ratio of the PWM signal is adjusted, and the voltage output of the brushless motor is reduced at regular time so as to reduce the speed of the crawler;
when the current speed is identified to reach a preset step-down speed threshold, obtaining a braking output quantity corresponding to the current speed according to a preset braking model;
outputting the braking output quantity to a brake so as to stop the tracked vehicle.
Through adopting above-mentioned technical scheme, when control circuit obtained the start signal that has acceleration intensity, input the voltage that acceleration intensity corresponds to the acceleration model in, obtain voltage linear increment, be incremental type promptly and increase voltage output to brushless motor, when control circuit obtained brake signal, input current voltage output quantity and current speed to the deceleration model in, obtain voltage linear decrement, can be in the decreasingly voltage output that reduces to brushless motor. Furthermore, in the process of braking or accelerating the tracked vehicle, operators cannot fall down due to the fact that the starting or braking acceleration is too fast, and the safety coefficient of the tracked vehicle is improved.
Optionally, the expression of the acceleration model is specifically as follows:
linear increment of voltage
Wherein V is x To accelerate the voltage value corresponding to the intensity of V 1 For the voltage value corresponding to the preset initial starting speed, n 1 Is a preset starting operation period.
Through adopting above-mentioned technical scheme, through accelerating the model, help the technician to set for corresponding voltage linear increment according to the demand to obtain better voltage linear increment, and then realize that can reach predetermined speed faster when people on lift platform can not feel rocking.
Optionally, the expression of the deceleration model is specifically as follows:
voltage linear decrement
Wherein V is y V is the voltage value corresponding to the current speed 2 For the voltage value corresponding to the preset node speed, n 2 Is a preset deceleration period.
Through adopting above-mentioned technical scheme, through the speed reduction model, help the technician to set for corresponding voltage linear decrement according to the demand to obtain better voltage linear decrement, and then realize that people on lift platform can not feel rocking can be faster when falling to predetermined speed.
Optionally, the expression of the brake model is specifically as follows:
braking output
Wherein 0 is<T is not more than T, T is the braking time, T is the preset braking operationLine cycle, N is initial brake output, V E At rated voltage v 0 And v is the current speed and is a preset braking speed threshold value.
Through adopting above-mentioned technical scheme, before the tracked vehicle slows down and reaches preset brake speed threshold value, give the brake through being the brake output volume of increasing, help reducing the people who stands on lift platform and feel of being silent, when reaching brake speed threshold value, because the speed is slower, adopt full output brake, can realize stopping fast. The quick braking can be realized and the pause feeling can be reduced.
Optionally, the method further comprises the steps of:
acquiring acceleration to be measured uploaded by an acceleration sensor deployed on an output shaft of a brushless motor in real time;
if the acceleration to be detected exceeds a preset speed limit threshold range, acquiring the voltage variation output to the brushless motor; and increasing or decreasing voltage output to the brushless motor according to the voltage variation.
Through adopting above-mentioned technical scheme, control circuit can realize the monitoring to crawler acceleration through detecting brushless motor's output shaft, can reduce or increase the output that inputs brushless motor when control circuit monitors crawler acceleration too fast, helps avoiding acceleration too big people who leads to on the lift platform to empty the condition.
Optionally, before acquiring the start signal, the method further includes the following steps:
acquiring a vehicle periphery image uploaded by an image acquisition terminal deployed on a crawler;
judging whether an intercepted image matched with a preset obstacle model exists in the vehicle periphery image, and if not, entering a waiting starting state;
otherwise, executing a prestored broadcasting instruction to enable a voice broadcasting device arranged on the tracked vehicle to broadcast prompt information of the front obstacle.
Through adopting above-mentioned technical scheme, through setting up image acquisition terminal, detect whether there is the barrier around the vehicle before can starting to remind operating personnel through voice broadcast's mode, in order to improve the security of tracked vehicle when starting.
Optionally, the executing the prestored broadcasting instruction includes the following steps:
acquiring the relative position of the intercepted image in the vehicle periphery image;
if the relative position is in the preset track wheel interval, executing a prestored broadcasting instruction;
otherwise, entering a waiting start state.
By adopting the technical scheme, the control circuit judges whether the relative position is in a preset track wheel interval according to the acquired relative position of the intercepted image in the vehicle periphery image; if yes, broadcasting a voice prompt to an operator; if not, the operator can wait for sending a starting signal. Through the judgement of relative setting, reduce the circumstances that appears the mistake and remind, improve the accuracy of broadcasting.
Optionally, if the relative position is in a preset track wheel interval, executing a prestored broadcasting instruction, including the following steps:
obtaining a track wheel interval according to the pre-stored width, the wheel radius and the ground clearance of the crawler;
and if the relative position is in the track wheel interval section, executing a prestored broadcasting instruction.
Through adopting above-mentioned technical scheme, according to the vehicle width, the wheel width of tracked vehicle, wheel radius and automobile body off-ground height, obtain the highest height that the tracked vehicle front wheel can cross the barrier and the highest height that the automobile body can cross, can judge whether be the barrier that tracked vehicle can cross, further improved the accuracy of reporting.
In a second aspect, the present application provides a start-stop control system for a crawler, which adopts the following technical scheme:
a start-stop control system for a crawler, comprising: the crawler belt type electric vehicle comprises a power supply circuit, a driving circuit, a control circuit, a brushless motor and a brake, wherein the number of the brushless motor is two, the two brushless motors are respectively used for driving crawler wheels on two sides of the crawler belt, the power supply circuit is used for supplying power to the control circuit and the driving circuit, a first output end of the control circuit is connected with an input end of the driving circuit, an output end of the driving circuit is connected with the brushless motor, and a second output end of the control circuit is connected with the brake.
Through adopting above-mentioned technical scheme, through control circuit, obtain voltage linear increment and voltage linear decrement, output voltage to drive circuit, drive circuit amplifies and outputs to brushless motor to make the tracked vehicle start and stop. Meanwhile, the control circuit can control the voltage output quantity to the brake to realize auxiliary control of the tracked vehicle to brake.
In a third aspect, the present application provides a drive controller for a crawler, which adopts the following technical scheme:
optionally, the driving controller applies the method of any one of claims 1 to 8 to perform driving control of the brushless motor to start and stop the crawler.
Through adopting above-mentioned technical scheme, drive controller passes through acceleration model, deceleration model and brake model control brushless motor, can effectively improve the factor of safety and the riding comfort of tracked vehicle.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the control circuit acquires a starting signal with acceleration intensity, voltage corresponding to the acceleration intensity is input into an acceleration model to obtain voltage linear increment, namely voltage output is increased to the brushless motor in an incremental mode, and when the control circuit acquires a brake signal, current voltage output and current speed are input into a deceleration model to obtain voltage linear decrement, namely voltage output is reduced to the brushless motor in a decremental mode. And then in the braking of tracked vehicle or the in-process of accelerating, operating personnel can not fall down because of start-up or brake acceleration are too fast, reduce and pause the sense, improved the factor of safety and the driving travelling comfort of tracked vehicle.
2. Through the acceleration model, the corresponding voltage linear increment is set according to the requirements by a technician, the better voltage linear increment is obtained, and further, the preset speed can be reached faster while people on the lifting platform cannot feel shaking.
3. Through the speed reduction model, the technician is helped to set corresponding voltage linear decrement according to the demand to obtain better voltage linear decrement, and then realize that can fall to predetermined speed more fast when people on the lift platform can not feel rocking.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a control system for start and stop of a crawler in accordance with an embodiment of the present application.
Fig. 2 is a flow chart of a start-stop control method for a crawler according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a start-stop control method for a tracked vehicle, which can be applied to a control system for start-stop of the tracked vehicle. The frame structure of the control system for starting and stopping the tracked vehicle can be as shown in fig. 1, and the frame structure can comprise a power supply circuit, a control circuit, a driving circuit, a brushless motor and a brake, wherein the power supply circuit is used for supplying power to the control circuit and the driving circuit, the control circuit can be an MCU control chip and is used for outputting control signals to the driving circuit and the brake, and the driving circuit is used for driving an output shaft of the brushless motor to rotate according to the control signals output by the receiving control circuit. Specifically, the execution subject of the method may be a control circuit, and the control circuit may be implemented by a brushless motor and a brake, and the control circuit may control the amount of voltage output to the brushless motor according to the acquired start signal or brake signal. Specifically, the control circuit adjusts the duty ratio of the PWM signal according to the acquired starting signal, and increases voltage output to the brushless motor so as to start the crawler; the control circuit adjusts the duty ratio of the PWM signal according to the acquired brake signal, and reduces voltage output to the brushless motor so as to brake the tracked vehicle, thereby realizing the conditions that the tracked vehicle is rapidly accelerated or braked and the gravity center of the operating personnel is not easy to deviate and topple.
The process flow shown in fig. 2 will be described in detail with reference to the specific embodiments, and the following may be included:
In an embodiment, a joystick and a remote control are deployed on the crawler, and a technician can trigger a start signal by pushing the joystick or pressing a button on the remote control, and the control circuit acquires the start signal, wherein the start signal carries the acceleration intensity. By swinging the joystick, the greater the tilt angle of the joystick, the more intense the voltage signal is input to the control circuit by the attitude sensor located at the bottom of the joystick. Meanwhile, a speed limiting knob is also arranged on an operating platform of the tracked vehicle, and the highest speed of the tracked vehicle is limited.
Step 202, obtaining a voltage linear increment corresponding to the acceleration intensity according to a preset acceleration model.
In an embodiment, the control circuit obtains a voltage linear increment corresponding to the acceleration intensity according to a preset acceleration model.
Optionally, the expression of the acceleration model is as follows:
linear increment of voltage
Wherein V is x To accelerate the voltage value corresponding to the intensity of V 1 For the voltage value corresponding to the preset initial starting speed, n 1 Is a preset starting operation period.
In an embodiment, for example: the current need is to accelerate to 80% of full speed corresponding voltageThe value, the operator can set the starting operation period according to the requirement, the operation period can be 10, and V 1 Can be preset to a voltage value corresponding to 20% of full speed, so that DeltaV 1 The voltage is increased by 6% from an initial start-up speed of 20%, and the voltage increase corresponding to each speed is 6%, and accordingly, the time interval for each increase in speed is 100ms.
In an embodiment, the voltage linear increment is increased based on the voltage output to the brushless motor, and accordingly, the duty ratio of the PWM signal is changed (i.e. the duty ratio of the PWM signal is adjusted), the high-level duty ratio of the PWM signal is increased, so that the output quantity of the voltage to the brushless motor is increased, and the voltage output is increased at a timing to start the crawler, wherein the timing may be 100ms.
In an embodiment, when the operator resets the joystick to the upright position or presses the brake button, the control circuit will acquire the brake signal, and at the same time, the control circuit acquires the current voltage output and the current speed.
In an embodiment, the control circuit obtains a voltage linear increment corresponding to the current voltage output according to a preset deceleration model.
Alternatively, the expression of the deceleration model is specifically as follows:
voltage linear decrement
Wherein V is y V is the voltage value corresponding to the current speed 2 For the voltage value corresponding to the preset node speed, n 2 Is a preset deceleration period.
In an embodiment, for example: when the operating lever is reset to the vertical state, the current speed is 80% of the full speed, the operator can set a deceleration period according to the requirement, the running period can be 2, and V 2 Can be preset to a voltage value corresponding to 60% of full speed, so that DeltaV 1 =10%, i.e. the speed is continuously reduced from the current speed, and the voltage reduction for each speed is 10%, and correspondingly, the time interval for each speed increase is 100ms.
Step 206, adjusting the duty cycle of the PMW signal based on the voltage linear decrement, and reducing the voltage output to the brushless motor at regular time to slow down the crawler.
In an embodiment, the voltage linear increment is reduced based on the amount of voltage output to the brushless motor, and accordingly, the duty cycle of the PWM signal is changed, and the high level duty cycle of the PWM signal is reduced, so that the output amount of the voltage to the brushless motor is reduced, and the voltage output is reduced at a timing to start the crawler, wherein the timing may be 100ms.
Step 207, when the current speed is identified to reach the preset step-down speed threshold, obtaining a braking output corresponding to the current speed according to a preset braking model.
In an embodiment, when the control circuit recognizes that the current speed reaches a preset step-down speed threshold, the step-down speed threshold may be a voltage value corresponding to 60% of full speed, and a braking output corresponding to the current speed is obtained according to a preset braking model.
Optionally, the expression of the brake model is as follows:
braking output
Wherein 0 is<T is not more than T, T is the braking time, T is the preset braking operation period, N is the initial braking output quantity, and V E At rated voltage v 0 And v is the current speed and is a preset braking speed threshold value.
In an embodiment, for example: v 0 Can be 20m/s preset, whenWhen the current speed exceeds 20m/s, the output of the brake
T is a preset braking operation period, the braking operation period can be 1, T is braking time, and the braking time can be time with every 100ms as an interval, for example: 0. 100ms, 200ms, 300ms, etc., N is a preset initial braking output, which may be 20%. When the current speed is lower than 20m/s, V z ＝100％V E So that the crawler is braked.
In an embodiment, the control circuit outputs a brake output voltage (brake output quantity) to the brake, which rubs against the pulley of the crawler to stop the crawler.
Optionally, the acceleration to be measured uploaded by an acceleration sensor disposed on the output shaft of the brushless motor is obtained in real time. And if the acceleration to be detected exceeds a preset speed limit threshold range, acquiring the voltage variation output to the brushless motor. The voltage output is increased or decreased to the brushless motor according to the voltage variation amount.
In an embodiment, the control circuit acquires the acceleration (i.e. the acceleration to be measured) uploaded by the acceleration sensor disposed on the output shaft of the brushless motor in real time, which may be 1s. If the control circuit recognizes the acceleration a to be measured 1 Exceeding a preset speed limit threshold range, the speed limit threshold range can be 0.92a 1 -1.08a 1 The amount of voltage change output to the brushless motor is acquired. The control circuit increases or decreases the voltage output to the brushless motor according to the voltage variation amount.
Optionally, a vehicle periphery image uploaded by an image acquisition terminal disposed on the crawler is acquired. Judging whether an intercepted image matched with a preset obstacle model exists in the axle image, if not, entering a waiting starting state, otherwise, executing a prestored broadcasting instruction to enable a voice broadcasting device arranged on the tracked vehicle to broadcast prompt information of the obstacle in front.
In an embodiment, the control circuit acquires a vehicle periphery image uploaded by an image acquisition terminal disposed on the crawler, wherein the image acquisition terminal can be a camera, and the vehicle periphery image can be an image of the surrounding side of the crawler, an image of the front of the crawler or an image of the front and back of the crawler. The control circuit is preset with an obstacle model, and the obstacle model can be obtained through image training of identifying stones, road poles, soil slopes and the like. The control circuit judges whether an intercepted image matched with the obstacle model exists or not, if the intercepted image matched with the obstacle model does not exist, the intercepting image enters a waiting starting state, a starting signal is waited for being acquired, and if the intercepted image does not exist, a prestored broadcasting instruction is executed, so that a voice broadcasting device arranged on the tracked vehicle broadcasts prompt information of the obstacle existing in front of the tracked vehicle.
Optionally, a relative position of the truncated image in the vehicle periphery image is acquired. And if the relative position is in the preset track wheel interval, executing a prestored broadcasting instruction, otherwise, entering a waiting starting state.
In an embodiment, the control circuit obtains a relative position of the truncated image in the vehicle periphery image. If the control circuit recognizes that the relative position is in the preset track wheel interval area, executing a prestored broadcasting instruction, otherwise, entering a waiting starting state.
Optionally, the track wheel interval is obtained according to the pre-stored vehicle width, wheel radius and vehicle body ground clearance of the tracked vehicle. And if the relative position is in the track wheel interval section, executing a prestored broadcasting instruction.
In an embodiment, the control circuit establishes a spatial coordinate system and obtains track wheel spacing intervals based on the vehicle width, the wheel radius and the vehicle body ground clearance of the tracked vehicle so as to obtain the positions of two track wheels and the vehicle body of the tracked vehicle. And if the relative position of the intercepted image is in the track wheel interval section, executing a prestored broadcasting instruction.
Based on the same technical conception, the embodiment of the application also discloses a control system for starting and stopping a tracked vehicle, which comprises a power supply circuit, a driving circuit, a control circuit, a brushless motor and a brake, wherein the two brushless motors are respectively used for driving crawler wheels on two sides of the tracked vehicle as shown in fig. 1, the power supply circuit is used for supplying power to the control circuit and the driving circuit, a first output end of the control circuit is connected with an input end of the driving circuit, an output end of the driving circuit is connected with the brushless motor, and a second output end of the control circuit is connected with the brake.
The embodiment of the application also discloses a driving controller, which is used for driving and controlling the brushless motor by the control method for starting and stopping the tracked vehicle so as to start and stop the tracked vehicle.
The tracked vehicle of this application embodiment is mainly used in the forest fruit industry, to the orchard operation field of ascending a height such as picking, pruning, bagging. In addition to the forestry and fruit industry, the control method, system and drive controller of the present application can also be used in other fields of operation.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the scope of protection of the application. It will be apparent that the described embodiments are merely some, but not all, of the embodiments of the present application. Based on these embodiments, all other embodiments that may be obtained by one of ordinary skill in the art without inventive effort are within the scope of protection sought herein.
Claims (7)
1. A start-stop control method for a crawler, comprising the steps of:
acquiring a starting signal, wherein the starting signal carries acceleration intensity;
obtaining a voltage linear increment corresponding to the acceleration intensity according to a preset acceleration model;
based on the voltage linear increment, the duty ratio of the PWM signal is adjusted, and the voltage output is increased to the brushless motor at regular time so as to enable the crawler to start;
when a brake signal is acquired, acquiring a current voltage output quantity and a current speed;
obtaining voltage linear decrement corresponding to the current voltage output quantity according to a preset deceleration model;
based on the voltage linear decrement, the duty ratio of the PWM signal is adjusted, and the voltage output of the brushless motor is reduced at regular time so as to reduce the speed of the crawler;
when the current speed is identified to reach a preset step-down speed threshold, obtaining a braking output quantity corresponding to the current speed according to a preset braking model;
outputting the braking output quantity to a brake so as to stop the crawler;
the expression of the acceleration model is specifically as follows:
linear increment of voltage
Wherein V is x To accelerate the voltage value corresponding to the intensity of V 1 For the voltage value corresponding to the preset initial starting speed, n 1 The method comprises the steps of setting a preset starting operation period;
the expression of the deceleration model is specifically as follows:
voltage linear decrement
Wherein V is y V is the voltage value corresponding to the current speed 2 For the voltage value corresponding to the preset node speed, n 2 Is a preset deceleration period;
the expression of the brake model is specifically as follows:
braking output
Wherein 0 is<T is not more than T, T is the braking time, T is the preset braking operation period, N is the initial braking output quantity, and V E At rated voltage v 0 And v is the current speed and is a preset braking speed threshold value.
2. The start-stop control method for a crawler of claim 1, further comprising the steps of:
acquiring acceleration to be measured uploaded by an acceleration sensor deployed on an output shaft of a brushless motor in real time;
if the acceleration to be detected exceeds a preset speed limit threshold range, acquiring the voltage variation output to the brushless motor; and increasing or decreasing voltage output to the brushless motor according to the voltage variation.
3. The start-stop control method for a crawler according to claim 1, further comprising the steps of, before acquiring the start signal:
acquiring a vehicle periphery image uploaded by an image acquisition terminal deployed on a crawler;
judging whether a intercepted image matched with a preset obstacle model exists in the vehicle periphery image; if not, entering a waiting starting state;
otherwise, executing a prestored broadcasting instruction to enable a voice broadcasting device arranged on the tracked vehicle to broadcast prompt information of the front obstacle.
4. A start-stop control method for a crawler as in claim 3 wherein said executing a pre-stored broadcast command comprises the steps of:
acquiring the relative position of the intercepted image in the vehicle periphery image;
if the relative position is in the preset track wheel interval, executing a prestored broadcasting instruction;
otherwise, entering a waiting start state.
5. The start-stop control method for a crawler according to claim 4, wherein if the relative position is within a preset crawler wheel interval, executing a pre-stored broadcasting command, comprising the steps of:
obtaining a track wheel interval according to the pre-stored width, the wheel radius and the ground clearance of the crawler;
and if the relative position is in the track wheel interval section, executing a prestored broadcasting instruction.
6. A start-stop control system for a crawler, applying the method of any one of claims 1 to 5, comprising: the crawler belt type electric vehicle comprises a power supply circuit, a driving circuit, a control circuit, a brushless motor and a brake, wherein the number of the brushless motor is two, the two brushless motors are respectively used for driving crawler wheels on two sides of the crawler belt, the power supply circuit is used for supplying power to the control circuit and the driving circuit, a first output end of the control circuit is connected with an input end of the driving circuit, an output end of the driving circuit is connected with the brushless motor, and a second output end of the control circuit is connected with the brake.
7. A drive controller for a crawler, characterized by: the drive controller performs drive control of the brushless motor to start and stop the crawler using the method of any one of claims 1 to 5.
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| CN101030754A (en) * | 2007-02-12 | 2007-09-05 | 盐城市步高汽配制造有限公司 | Stepless torque braking controller of electric vortex speed releaser |
| CN105774595A (en) * | 2016-03-09 | 2016-07-20 | 广汽本田汽车有限公司 | Energy-saving acceleration method and device for electric vehicle |
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