CN100410114C - Control method and device for antislip of train - Google Patents
Control method and device for antislip of train Download PDFInfo
- Publication number
- CN100410114C CN100410114C CNB2006100321578A CN200610032157A CN100410114C CN 100410114 C CN100410114 C CN 100410114C CN B2006100321578 A CNB2006100321578 A CN B2006100321578A CN 200610032157 A CN200610032157 A CN 200610032157A CN 100410114 C CN100410114 C CN 100410114C
- Authority
- CN
- China
- Prior art keywords
- vehicle
- speed
- train
- coefficient
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Regulating Braking Force (AREA)
Abstract
An antiskid control method for train includes such steps as setting up optimal control function according to train speed and the difference between actual speed and calculated speed, evaluating the utilization of adhesion to obtain comprehensive index value, and controlling antiskid valves to increase, decrease, or hold the pressure. Its apparatus is composed of antiskid controller. 4 antiskid valves and 4 speed sensors.
Description
Technical field
The invention belongs to a kind of anti-skidding control method of train, refer in particular to a kind of vehicle brake control method (international Patent classificating number is B60T8/00) that utilizes the device of regulating wheel braking force with the variation that adapts to vehicle or rail level condition; The invention still further relates to a kind of brake system of utilizing braking reservoir and distributing valve simultaneously, and the arrangement of rolling stock drg or other speed reduction gearing or configuration.Be used for preventing train when operational process uses air brake because the adhesion between the wheel track produces the state generation that wheel lockup slides inadequately.
Background technology
Along with development of technology, because the age of existing anti-skid device exploitation early, its function and performance all are difficult to satisfy high-revolving needs, need redesign out greater functionality, more performance-oriented anti-skid device with new components and parts, new technology, the particularly development of microprocessor, the raising that increases to dynamic performance of the raising of processing speed and capacity and the increase of function provide wide space.
Specifically on controllable function, the main control policy that present vehicle limited slip device is taked is according to velocity contrast, the level that has that the threshold value of acceleration/accel and three amounts of creep rate is carried out is controlled, and mostly be single criterion process control, substantially can satisfy the anti-skidding controllable function of vehicle, but control sensitivity and stick together in the utilization not good enough.The criterion that existing anti-skid device is used when judgement is slided does not have the standard judgment criterion, adopt empirical equation and empirical data to judge mostly, but be difficult to be adapted to different geography and climatic conditions, reach and to make full use of the control effect of sticking together and can prevent to slide.
By analyzing the characteristic of vehicle wheel when sliding, in single criterion process control, if with velocity contrast as anti-skidding criterion, if the skid conditions during by low speed is provided with relief pressure threshold, then when high speed, can make the too frequent action of antiskid valve, cause the loss of braking force.Skid conditions during certainly according to high speed is provided with relief pressure threshold the judgement hysteresis then will occur sliding when low speed, cause wheel to scratch.And,, list also just compares difficulty so measuring the setting of threshold value because high low-tach threshold is difficult to define.And also more complicated of the adhesion situation of rail level, this all influences the effect of anti-skidding control.In order to improve the precision and the sensitivity of the control of single criterion, also have will control threshold value after the different control stages, (supercharging, decompression) carried out refinement, the pressure of brake cylinder is controlled.But come what may, the limitation of single criterion control is clearly.
Summary of the invention
The objective of the invention is to, at the deficiency of the existing anti-skidding control method of rolling stock, propose a kind of anti-skidding control method of rolling stock of multiple variable synthetical control, this method has better effect at the sensitivity of control with sticking together in the utilization.Be used for preventing train when operational process uses air brake because the adhesion between the wheel track produces the state generation that wheel lockup slides inadequately.
According to the technology implementation scheme that purpose of the present invention proposed be: the anti-skidding control method of a kind of rolling stock, with the controlling quantity velocity contrast, deceleration/decel and creep rate are the basis, combine car speed, the difference of car speed and vehicle computation speed is set the optimal control function, utilizes situation to carry out comprehensive assessment to adhesion, obtain comprehensive index value, thereby according to the supercharging of comprehensive index value control antiskid valve, reduce pressure or pressurize, and prevent that by the pressure of control antiskid valve adjusting brake cylinder vehicle from sliding.Described control method is based on a kind of comprehensive index value that calculates according to velocity contrast, deceleration/decel, creep rate and vehicle computation speed interrelation, add coefficient of weight and definite, and be by being installed in the speed signal of the speed sensor reception wheel on the axletree, through the internal calculation of system, output a control signal to actuating unit (antiskid valve) and regulate the pressure of brake cylinder and prevent to take turns sliding.Wherein, the comprehensive index value in the internal calculation of system is that vehicle wheel not multiply by the result that product calculated that the coefficient of weight sum deducts vehicle computation speed and coefficient of weight to velocity contrast, creep rate, deceleration/decel and car speed and vehicle computation speed difference.Carry out threshold decision according to comprehensive index value again, thus the state of a control of output antiskid valve.Wherein, car speed is to get the maximum speed value of each wheel to returning when selected speed sensor receives the speed signal value of wheel when calculating.
Definite method of this control method comprehensive index value is as follows:
Set coefficient: KAS1 wheel to speed and vehicle computation speed difference coefficient of weight
KAS2 acceleration/accel coefficient of weight
KAS3 creep rate coefficient of weight
KAS4 vehicle computation speed and car speed difference coefficient of weight
KAS5 speed calculation coefficient of weight
Described weighting proportionality coefficient can calculate and the test acquisition by theoretical.
Calculate comprehensive index value as follows:
The Z=KAS1* Δ
It is right to take turns+ KAS3* η+KAS4* Δ V
Vehicle+ KAS2*a-KAS5*V
Vehicle calculates
Control variable wherein is explained as follows:
Δ V
It is right to take turnsFor the vehicle computation speed and the wheel to linear differential
η is the creep rate, and size equals
Δ V
VehiclePoor for vehicle computation speed and car speed
A is for taking turns the line deceleration/decel
V
Vehicle calculatesBe the vehicle computation speed
Set respectively and make antiskid valve decompression, the threshold value Z of pressurize and supercharging
Decompression, Z
Pressurize, Z
Increase the AsiaThereby by comparing the operating state of determining antiskid valve with these three threshold values.
Toy vehicle velocity value is got and is respectively taken turns right maximum speed value.Choosing of vehicle computation speed according to following condition:
If v
Vehicle (n)＜v
Vehicle (n-1)-a
Max* Δ t v then
Vehicle calculates=v
Vehicle
Otherwise v
Car two calculates (n)=v
Vehicle calculates (n-1)-a
Max* Δ t
The determined device of the method according to this invention is: a kind of vehicle limited slip device mainly comprises anti-skid controller, four antiskid valve and four three parts such as speed sensor assembly.Adopt axle prosecutor formula, antiskid valve is connected with gas circuit, and is controlled by anti-skid controller; Anti-skid controller is electrically connected with speed sensor assembly again, and each wheel that the inbound pacing sensor module obtains is to the rotating speed electric signal.Whole motor vehicle braking system comprises distributing valve, auxiliary reservoir, antiskid valve, foundation brake rigging, anti-skid controller, speed sensor and pressure switch etc., and distributing valve is connected with train pipe gas circuit by pipeline, cross tracheae in the distributing valve bypass and be connected with auxiliary reservoir, the tracheae outlet of distributing valve is connected with plural antiskid valve respectively, corresponding brake equipment of tracheae outlet of each antiskid valve, realize being connected by tracheae and each brake equipment, and pass through the braking force of adjusting of antiskid valve delivery pressure and control brake device.On the train pipe, also be connected with pressure switch by tracheae, pressure switch realizes being electrically connected by electrical cable and anti-skid controller, while anti-skid controller electrical cable and each are taken turns right antiskid valve and are realized being electrically connected, and the output state of antiskid valve is to be carried out controlling after the threshold decision according to the determined comprehensive index value of the inventive method by anti-skid controller by taking turns right speed sensor signal by anti-skid controller.
The advantage of anti-skidding control method of the present invention is:
A) when the unexpected variation of tacky state, the deceleration/decel controlling elements will play the major control effect, guarantee that there is enough fast dynamic responding speed in system;
B) in the process of tacky state gradual change, the Comprehensive Control index is always followed the trail of best sticky point;
C) four arbor wheels of vehicle to the situation that gradual change takes place simultaneously slides under, the difference factor of vehicle computation speed and car speed will play the major control effect;
D) take turns under the situation that the generation gradual change is slided, creep rate and velocity contrast will become the major control factor, utilize car speed to regulate simultaneously at each, guarantee the effective tracking in the full speed range;
E) the anti-skidding efficient of utilizing this control method to obtain is not less than 95%;
The weighting proportionality coefficient that applies in the model can calculate and the test acquisition by theoretical.
Description of drawings
Fig. 1 is creep/a stick together diagram of curves;
Fig. 2 is the acceleration/accel that slides in the process, velocity profile;
Fig. 3 is a skid control system structure principle chart of the present invention.
Among the figure: 1, distributing valve; 2, auxiliary reservoir; 3, antiskid valve; 4, brake equipment; 5, anti-skid controller; 6, pressure switch; 7, speed sensor; 8, pipeline; 9, train pipe gas circuit; 10, tracheae outlet; 11, tracheae; 12, tracheae; 13, electrical cable; 14, electrical cable.
The specific embodiment
The invention will be further described below in conjunction with embodiment.
By accompanying drawing as can be seen, the present invention is a kind of vehicle limited slip control setup, its vehicle limited slip control method is in the braking procedure that has air brake to participate in, with the controlling quantity velocity contrast, deceleration/decel, with the creep rate be the basis, combine car speed, the difference of car speed and vehicle computation speed is set the optimal control function, utilizes situation to carry out comprehensive assessment to adhesion, obtain comprehensive index value, thereby according to the supercharging of comprehensive index value control antiskid valve, reduce pressure or pressurize, and prevent that by the pressure of control antiskid valve adjusting brake cylinder vehicle from sliding.
Definite method of this control method comprehensive index value is as follows:
Set coefficient: KAS1 wheel to speed and vehicle computation speed difference coefficient of weight
KAS2 acceleration/accel coefficient of weight
KAS3 creep rate coefficient of weight
KAS4 vehicle computation speed and car speed difference coefficient of weight
KAS5 speed calculation coefficient of weight
Described weighting proportionality coefficient can calculate and the test acquisition by theoretical.
Calculate comprehensive index value as follows:
Z=KAS1* Δ V
It is right to take turns+ KAS3* η+KAS4* Δ V
Vehicle+ KAS2*a-KAS5*V
Vehicle calculates
Control variable wherein is explained as follows:
Δ V
It is right to take turnsFor the vehicle computation speed and the wheel to linear differential
η is the creep rate, and size equals
Δ
VehiclePoor for vehicle computation speed and car speed
A is for taking turns the line deceleration/decel
V
Vehicle calculatesBe the vehicle computation speed
Set respectively and make antiskid valve decompression, the threshold value Z of pressurize and supercharging
Decompression, Z
Pressurize, Z
Increase the AsiaThereby by comparing the operating state of determining antiskid valve with these three threshold values.
Toy vehicle velocity value is got and is respectively taken turns right maximum speed value.Choosing of vehicle computation speed according to following condition:
If v
Vehicle (n)＜v
Vehicle (n-1)-a
Max* Δ t v then
Vehicle calculates=v
Vehicle
Otherwise v
Car two calculates (n)=v
Vehicle calculates (n-1)-a
Max* Δ t
Control method is based on a kind of comprehensive index value that calculates according to velocity contrast, deceleration/decel, creep rate and vehicle computation speed interrelation, add coefficient of weight and definite, and be by being installed in the speed signal of the speed sensor reception wheel on the axletree, through the internal calculation of system, output a control signal to actuating unit (antiskid valve) and regulate the pressure of brake cylinder and prevent to take turns sliding.Wherein, the comprehensive index value in the internal calculation of system is that vehicle wheel not multiply by the result that product calculated that the coefficient of weight sum deducts vehicle computation speed and coefficient of weight to velocity contrast, creep rate, deceleration/decel and car speed and vehicle computation speed difference.Carry out threshold decision according to comprehensive index value again, thus the state of a control of output antiskid valve.Wherein, car speed is to get the maximum speed value of each wheel to returning when selected speed sensor receives the speed signal value of wheel when calculating.Whole device comprises distributing valve, antiskid valve, brake equipment, anti-skid controller, speed sensor and pressure switch, and distributing valve is connected with train pipe gas circuit by pipeline, tracheae outlet at distributing valve is connected with plural antiskid valve respectively, corresponding brake equipment of tracheae outlet of each antiskid valve, realize that by tracheae and each brake equipment gas circuit is connected, and pass through the braking force of adjusting of antiskid valve delivery pressure and control brake device; Simultaneously, the anti-skid controller electrical cable is realized being electrically connected with the pressure sensor of each wheel, the delivery pressure of antiskid valve is to carry out threshold decision by anti-skid controller according to comprehensive index value by the signal of anti-skid controller by the speed sensor of wheel, thus the output antiskid valve state of a control obtained.Be provided with auxiliary reservoir on described distributing valve side, distributing valve is that gas circuit is connected with auxiliary reservoir.Also be connected with pressure switch by tracheae on described train pipe, pressure controller is realized being electrically connected by electrical cable and anti-skid controller, uses as the sleep control of anti-skid controller.
Embodiment one
A kind of passenger vehicle anti-skid device mainly comprises anti-skid controller, four antiskid valve and four three parts such as speed sensor assembly.Adopt axle prosecutor formula, antiskid valve is connected with the anti-skid controller circuit, is connected with the brake equipment gas circuit, and is controlled by anti-skid controller; Anti-skid controller is electrically connected with speed sensor assembly again, and the speed electric signal of inbound pacing sensor module.Be used for preventing train when operational process uses air brake because the adhesion between the wheel track produces the state generation that wheel lockup slides inadequately.
Anti-skid controller is the core component of control system, and casing is the 3U cabinet of standard, has three kinds of mounting meanss such as vertical installation, level installation and embedded installation, can determine mounting means according to the actual installation position.
Anti-skid controller had both had the independent operating mode, also had the train of connection network operation mode.When being in the independent operating mode, the running velocity of vehicle is calculated definite voluntarily by each anti-skid device, the fault and the relevant information of real-time monitoring is stored, is shown and inquire about, and can read information by the RS232 mouth by laptop computer and carry out Ground analysis; When needs connect the train network operation, only need to go into network interface card in the cabinet interpolation, can connect operation with the train net.At this moment, by the running velocity of network delivery vehicle, fault and relevant information also by network to the upper class transmission.
Anti-skid controller is controlled its sleep and startup by vehicle battery DC48V power supply or DC110V power supply by the train tube pressure detector switch.The radical function of system comprises: anti-skidding control, and safe inversion, adjacent axle cover, the chain control of stopping sliding door, sleep, power-on self-test and row inspection, On-line Fault diagnosis, storage, inquiry, demonstration etc. also have the output of two-way miles counter, and running velocity shows.
Antiskid valve is the actuating unit of system, is subjected to the control of anti-skid controller, is used for the pressure of real-time regulated glancing impact brake cylinder, prevents that wheel from seriously skidding.Speed sensor provides the speed foundation for anti-skidding control.This device is for electromechanical integrated device, so also must satisfy the requirement that is electrically connected of total system when installing except that the mechanical installation requirement that satisfies each parts.
Whole anti-skid device comprises distributing valve 1, auxiliary reservoir 2, antiskid valve 3, brake equipment 4, anti-skid controller 5, pressure switch 6 and speed sensor 7, and distributing valve is connected with train pipe 9 gas circuits by pipeline 8, cross tracheae in distributing valve 1 bypass and be connected with auxiliary reservoir 2, the tracheae outlet 10 of distributing valve 1 is connected with 4 antiskid valve 3 respectively, corresponding brake equipment 4 of tracheae outlet of each antiskid valve 3, realize being connected by tracheae 11 and each brake equipment, and pass through the braking force of adjusting of antiskid valve 3 delivery pressures and control brake device 4.On train pipe 9, also be connected with pressure switch 6 by tracheae 12, pressure switch 6 realizes being electrically connected by electrical cable 13 and anti-skid controller 5, simultaneously, wheel at each corresponding brake equipment 4 also is equipped with speed sensor 7 to the side, anti-skid controller 5 is taken turns right speed sensor 7 by electrical cable 14 and each and is realized being electrically connected, and the delivery pressure of antiskid valve 3 is to be carried out threshold decision by anti-skid controller 5 according to comprehensive index value by the signal of taking turns right speed sensor 7 and exported the state of a control of antiskid valve 3 by anti-skid controller 5.
The anti-skidding controllable function of whole device is the Optimal Control Model of setting up with speed and development amount thereof, is realized by powerful primary processor.Computation period is 100mS, and the velocity process scope is 0-400km/h.
Definite method of comprehensive index value is as follows:
Set coefficient: KAS1=10.0 wheel to speed and vehicle computation speed difference coefficient of weight
KAS2=2.1 acceleration/accel coefficient of weight
KAS3=3.5 creep rate coefficient of weight
KAS4=2.5 vehicle computation speed and car speed difference coefficient of weight
KAS5=1.0 speed calculation coefficient of weight
Described weighting proportionality coefficient can calculate and the test acquisition by theoretical.
Calculate comprehensive index value (Z) as follows:
Z=KAS1* Δ V
It is right to take turns+ KAS3* η+KAS4* Δ V
Vehicle+ KAS2*a-KAS5*V
Vehicle calculates
Control variable wherein is explained as follows:
Δ V
It is right to take turnsFor the vehicle computation speed and the wheel to linear differential
η is the creep rate, and size equals
Δ V
VehiclePoor for vehicle computation speed and car speed
A is for taking turns the line deceleration/decel
V
Vehicle calculatesBe the vehicle computation speed
Set respectively and make antiskid valve decompression, the threshold value Z of pressurize and supercharging
Decompression, Z
Pressurize, Z
Increase the AsiaThereby by comparing the operating state of determining antiskid valve with these three threshold values.
Toy vehicle velocity value is got and is respectively taken turns right maximum speed value.Choosing of vehicle computation speed according to following condition:
If v
Vehicle (n)＜v
Vehicle (n-1)-a
Max* At v then
Vehicle calculates=v
Vehicle
Otherwise v
Car two calculates (n)=v
Vehicle calculates (n-1)-a
Max* Δ t
Embodiment two
Embodiment two and the method and structure of embodiment one be the same be that selected weighting proportionality coefficient is different with embodiment one, be the data that obtain according to test, it is as follows to set coefficient:
The KAS1=13.0-20.0 wheel is to speed and vehicle computation speed difference coefficient of weight
KAS2=1.8-3.2 acceleration/accel coefficient of weight
KAS3=4.2-7.5 creep rate coefficient of weight
KAS4=2.2-4.5 vehicle computation speed and car speed difference coefficient of weight
KAS5=0.5-1.5 speed calculation coefficient of weight
Comprehensive index value (Z) is calculated as follows:
Z=KAS1* Δ V
It is right to take turns+ KAS3* η+KAS4* Δ V
Vehicle+ KAS2*a-KAS5*V
Vehicle calculates
Control variable wherein is explained as follows:
Δ V
It is right to take turnsFor the vehicle computation speed and the wheel to linear differential
η is the creep rate, and size equals
Δ V
VehiclePoor for vehicle computation speed and car speed
A is for taking turns the line deceleration/decel
V
Vehicle calculatesBe the vehicle computation speed
Set respectively and make antiskid valve decompression, the threshold value Z of pressurize and supercharging
Decompression, Z
Pressurize, Z
Increase the AsiaThereby by comparing the operating state of determining antiskid valve with these three threshold values.
Toy vehicle velocity value is got and is respectively taken turns right maximum speed value.Choosing of vehicle computation speed according to following condition:
If v
Vehicle (n)＜v
Vehicle (n-1)-a
Max* Δ t v then
Vehicle calculates=v
Vehicle
Otherwise v
Car two calculates (n)=v
Vehicle calculates (n-1)-a
Max* Δ t
Claims (8)
1. anti-skidding control method of train, it is characterized in that: described control method is based on a kind of comprehensive index value that calculates according to velocity contrast, deceleration/decel, creep rate and vehicle computation speed interrelation, add coefficient of weight and definite, and be by being installed in the speed signal of the speed sensor reception wheel on the axletree, through the internal calculation of system, output a control signal to actuating unit and regulate the pressure of brake cylinder and prevent to take turns sliding; Wherein, comprehensive index value in the internal calculation of system is that vehicle wheel not multiply by the result that product calculated that the coefficient of weight sum deducts vehicle computation speed and coefficient of weight to velocity contrast, creep rate, deceleration/decel and car speed and vehicle computation speed difference, carry out threshold decision according to comprehensive index value again, thus the state of a control of output antiskid valve; Car speed is to get the maximum speed value of each wheel to returning when selected speed sensor receives the speed signal value of wheel when calculating.
2. the anti-skidding control method of train as claimed in claim 1 is characterized in that: described comprehensive index value is determined according to following method:
Set coefficient: KAS1 wheel to speed and vehicle computation speed difference coefficient of weight
KAS2 acceleration/accel coefficient of weight
KAS3 creep rate coefficient of weight
KAS4 vehicle computation speed and car speed difference coefficient of weight
KAS5 speed calculation coefficient of weight
Calculate comprehensive index value as follows:
Z=KAS1* Δ V
It is right to take turns+ KAS3* η+KAS4* Δ V
Vehicle+ KAS2*a-KAS5*V
Vehicle calculates
Control variable wherein is explained as follows:
Δ V
It is right to take turnsFor the vehicle computation speed and the wheel to linear differential
η is the creep rate,
Δ
VehiclePoor for vehicle computation speed and car speed
A is for taking turns the line deceleration/decel
V
Vehicle calculatesBe the vehicle computation speed
3. the anti-skidding control method of train as claimed in claim 1 or 2 is characterized in that: described control method is to set respectively to make antiskid valve decompression, the threshold value Z of pressurize and supercharging
Decompression, Z
Pressurize, Z
SuperchargingThereby by comparing the operating state of determining antiskid valve with these three threshold values.
4. the anti-skidding control method of train as claimed in claim 1 or 2 is characterized in that: described toy vehicle velocity value is got and is respectively taken turns right maximum speed value.Choosing of vehicle computation speed according to following condition:
If v
Vehicle (n)＜v
Vehicle (n-1)-a
Max* Δ t v then
Vehicle calculates=v
Vehicle
Otherwise v
Car two calculates (n)=v
Vehicle calculates (n-1)-a
Max* Δ t.
5. anti-skidding control setup of train of realizing the anti-skidding control method of the described train of claim 1, comprise anti-skid controller, four antiskid valve and four speed sensor assembly three parts, it is characterized in that: antiskid valve is connected with the brake equipment gas circuit, and is controlled by anti-skid controller; Anti-skid controller is electrically connected with speed sensor assembly again, and the speed electric signal of inbound pacing sensor module.
6. the anti-skidding control setup of train as claimed in claim 5, it is characterized in that: described device comprises distributing valve, antiskid valve, brake equipment, anti-skid controller, speed sensor and pressure switch, and distributing valve is connected with train pipe gas circuit by pipeline, tracheae outlet at distributing valve is connected with plural antiskid valve respectively, corresponding brake equipment of tracheae outlet of each antiskid valve, realize that by tracheae and each brake equipment gas circuit is connected, and pass through the braking force of adjusting of antiskid valve delivery pressure and control brake device; Simultaneously, the pressure sensor of anti-skid controller electrical cable and each wheel is realized being electrically connected, and the delivery pressure of antiskid valve is to be carried out threshold decision by anti-skid controller according to comprehensive index value and exported the state of a control of antiskid valve by the signal of anti-skid controller by the speed sensor of wheel.
7. the anti-skidding control setup of train as claimed in claim 5 is characterized in that: be provided with auxiliary reservoir on described distributing valve side, distributing valve is that gas circuit is connected with auxiliary reservoir.
8. the anti-skidding control setup of train as claimed in claim 5, it is characterized in that: on described train pipe, also be connected with pressure switch by tracheae, pressure switch realizes being electrically connected by electrical cable and anti-skid controller, uses as the sleep control of anti-skid controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100321578A CN100410114C (en) | 2006-08-31 | 2006-08-31 | Control method and device for antislip of train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100321578A CN100410114C (en) | 2006-08-31 | 2006-08-31 | Control method and device for antislip of train |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1915723A CN1915723A (en) | 2007-02-21 |
| CN100410114C true CN100410114C (en) | 2008-08-13 |
Family
ID=37736841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100321578A Active CN100410114C (en) | 2006-08-31 | 2006-08-31 | Control method and device for antislip of train |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100410114C (en) |
Families Citing this family (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009153883A1 (en) * | 2008-06-20 | 2009-12-23 | 三菱電機株式会社 | Train slide controller and train slide control method |
| DE102008063891A1 (en) * | 2008-12-19 | 2010-07-01 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Brake system of a rail vehicle reduced stick-slip effect |
| CN101508307B (en) * | 2009-03-25 | 2010-12-08 | 南京航空航天大学 | Rail vehicle non-skid vent valve based on double-piezoelectricity guide valve |
| DE102010049303A1 (en) * | 2010-10-22 | 2012-04-26 | Knorr-Bremse Systeme für Schienenfahrzeuge GmbH | Method for controlling a sliding friction-controlled friction brake system of a rail vehicle |
| CN102152800B (en) * | 2011-03-02 | 2013-06-05 | 中国铁道科学研究院机车车辆研究所 | Wagon brake system |
| CN102328642B (en) * | 2011-07-13 | 2014-03-19 | 铁道部运输局 | Method and system for adjusting train braking force according to train running speed |
| CN102343897B (en) * | 2011-07-13 | 2013-04-17 | 铁道部运输局 | Braking control system of rail transit vehicle and anti-skidding control plate for braking control system of rail transit vehicle |
| CN102328646B (en) * | 2011-07-25 | 2016-10-05 | 中车青岛四方车辆研究所有限公司 | Urban tram braking system |
| WO2013134918A1 (en) * | 2012-03-13 | 2013-09-19 | 青岛四方车辆研究所有限公司 | Urban tram braking system |
| CN103935380B (en) * | 2014-04-25 | 2016-03-09 | 南车株洲电力机车有限公司 | A kind of control method of locomotive air skid control system and device |
| ITUB20159358A1 (en) * | 2015-12-22 | 2017-06-22 | Faiveley Transport Italia Spa | Procedure for checking and recovering the adherence of the wheels of a controlled axle of a railway vehicle. |
| ITUA20162295A1 (en) * | 2016-04-05 | 2017-10-05 | Faiveley Transport Italia Spa | Procedure for the control and possible recovery of the adherence of the wheels of controlled axles of a railway vehicle. |
| CN108216168B (en) * | 2016-12-22 | 2019-11-05 | 比亚迪股份有限公司 | Train skidding or idle running detection method and device |
| CN106976462B (en) * | 2017-05-08 | 2023-06-23 | 湖南工业大学 | Anti-skid control method for heavy-duty locomotive based on asymmetric barrier Liapunov function |
| CN110095979B (en) * | 2018-01-29 | 2022-08-30 | 湖南工业大学 | High-speed train adhesion anti-skid control method based on asymmetric Barrier Lyapunov function |
| CN109229082B (en) * | 2018-07-23 | 2019-12-03 | 同济大学 | A kind of rail vehicle braking system anti-skid control method |
| CN109708906A (en) * | 2019-02-19 | 2019-05-03 | 西南交通大学 | A kind of rapid survey wheel track sticks together-experimental method of creep curve |
| CN109895754B (en) * | 2019-03-05 | 2020-06-05 | 中南大学 | Train anti-skid control method and control device based on optimal slip rate |
| CN109828450A (en) * | 2019-04-04 | 2019-05-31 | 哈尔滨恒达交通设备技术开发有限公司 | A kind of anti-tug device of electric locomotive and method |
| CN112193224B (en) * | 2019-07-08 | 2021-10-26 | 中车唐山机车车辆有限公司 | Vehicle braking force distribution method, terminal device and storage medium |
| CN111516661B (en) * | 2020-05-08 | 2021-03-30 | 中车青岛四方车辆研究所有限公司 | Distributed anti-skid control method and device for railway vehicle |
| CN111994129B (en) * | 2020-08-19 | 2022-06-28 | 交控科技股份有限公司 | Antiskid control method and system for wheel-rail train |
| CN114655270B (en) * | 2022-03-23 | 2023-07-25 | 中国铁道科学研究院集团有限公司 | Variable architecture control system for air brake of motor train unit |
| CN114701458B (en) * | 2022-03-30 | 2023-04-11 | 中国铁道科学研究院集团有限公司铁道科学技术研究发展中心 | Control system and control method for wheel rail braking |
| CN115447644A (en) * | 2022-09-14 | 2022-12-09 | 中车南京浦镇车辆有限公司 | Train braking safety distance calculation method and device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2251516Y (en) * | 1996-08-12 | 1997-04-09 | 张跃 | Automatic antiskid device for subway locomotive crew |
| US6600978B2 (en) * | 2001-04-24 | 2003-07-29 | Hitachi, Ltd. | Railway vehicle operation-control system and a railway vehicle using the operation control system |
-
2006
- 2006-08-31 CN CNB2006100321578A patent/CN100410114C/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2251516Y (en) * | 1996-08-12 | 1997-04-09 | 张跃 | Automatic antiskid device for subway locomotive crew |
| US6600978B2 (en) * | 2001-04-24 | 2003-07-29 | Hitachi, Ltd. | Railway vehicle operation-control system and a railway vehicle using the operation control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1915723A (en) | 2007-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100410114C (en) | Control method and device for antislip of train | |
| CN102486400B (en) | Vehicle mass identification method and device | |
| US8983752B2 (en) | System and method for identifying characteristics of a vehicle | |
| CN103183037B (en) | electric locomotive adhesion control method and device | |
| CN102004039B (en) | Test jack horse and test method of electric vehicle electromagnetic and frictional brake integrated system | |
| WO2016074623A1 (en) | Vehicle operation monitoring, overseeing, data processing and overload monitoring method and system | |
| CN103625459A (en) | Automobile service braking efficiency dynamic monitoring and alarming system | |
| CN104968959B (en) | The driving force distribution device of hydraulic pressure control device and four-wheel drive vehicle | |
| EP1781484B1 (en) | Methods and apparatus for reducing vehicle tire wear | |
| CN110641523B (en) | Subway train real-time speed monitoring method and system | |
| CN103879398B (en) | The System and method for of the electronic control unit performance in measuring air pressure type ABS | |
| CN105606530A (en) | Device and method for testing road surface peak attachment coefficient | |
| CN101825510A (en) | Method for estimating brake pressure of automobile and peak value of road adhesion coefficient | |
| CN103407450A (en) | Real-time detection method and device for adhesion coefficient between tire and ground | |
| CN107089226A (en) | A kind of LQG slip-based controllers device and its design method for vehicle antilocking braking system | |
| CN111516661B (en) | Distributed anti-skid control method and device for railway vehicle | |
| CN109484384A (en) | A kind of optimal adhesion braking control method of bullet train and system | |
| CN209410039U (en) | The ABS control system of Electro-hydraulic brake based on hub motor | |
| CN109900399A (en) | A kind of wheel side/hub drive system test platform | |
| CN107139915B (en) | System for testing air pressure anti-lock performance of vehicle | |
| CN112051065B (en) | Engine brake system testing method | |
| CN113390654A (en) | Train braking fault diagnosis method based on multi-source information fusion | |
| CN104080637B (en) | Braking supervision | |
| CN207336096U (en) | A kind of city railway vehicle skid resistance assessment system | |
| CN103025594A (en) | Controller for a drive system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | "change of name, title or address" | ||
| CP03 | "change of name, title or address" |
Address after: The age of 412001 in Hunan Province, Zhuzhou Shifeng District Road No. 169 Patentee after: ZHUZHOU CRRC TIMES ELECTRIC Co.,Ltd. Address before: 412007 Hunan Province, Zhuzhou Shifeng District Tian Xin North Gate Patentee before: ZHUZH CSR TIMES ELECTRIC Co.,Ltd. |