CN101691116A - Acceleration traction control method for diesel motor vehicle - Google Patents
Acceleration traction control method for diesel motor vehicle Download PDFInfo
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- CN101691116A CN101691116A CN200910210725A CN200910210725A CN101691116A CN 101691116 A CN101691116 A CN 101691116A CN 200910210725 A CN200910210725 A CN 200910210725A CN 200910210725 A CN200910210725 A CN 200910210725A CN 101691116 A CN101691116 A CN 101691116A
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Abstract
The invention relates to a traction control method for a diesel motor vehicle, in particular to an acceleration traction control method for the diesel motor vehicle, which comprises seven steps of: outputting an acceleration gear signal of a traction handle; outputting a required power gear signal of a traction inverter assembly; outputting a diesel engine rotating speed gear control signal of an on-vehicle central microcomputer; outputting generator excitation current of the on-vehicle central microcomputer; outputting a feedback power gear signal of the on-vehicle central microcomputer, outputting a power gear comparison of a traction control unit; and converting alternating-direct-alternating current, wherein each step adopts security protection control and bus technology to transmit signals. Compared with the conventional output power traction control method for the diesel motor vehicle, because a driver can directly control the speed changes of a train, the acceleration traction control method for the diesel motor vehicle greatly reduces the operation difficulties for the driver to drive at a controlled speed under a complex road condition, and achieves the functions of raiding the speed at a fixed acceleration and cruising at a fixed speed. The driver pulls the traction handle to change the gear so that the train can run at the acceleration determined by the traction handle.
Description
Technical field
The present invention relates to the acceleration traction control method of a kind of traction control method of diesel rail motor car, particularly a kind of diesel rail motor car, be particularly useful for the pull-in control system of alternating current driving type diesel rail motor car.
Technical background
The traction control method of tradition diesel rail motor car has two kinds: a kind of is to adopt diesel engine speed control, and another kind is to adopt the diesel engine Torque Control.In first method, driver's working control be the rotating speed of diesel engine; In the second approach, driver's working control is the output torque of diesel engine.When train will improve the speed of a motor vehicle, the driver will pull rotating speed or the output torque that handle increases diesel engine, though at this moment the speed of a motor vehicle can upwards increase, extremely difficulty is fixed on some velocity amplitudes the speed of a motor vehicle accurately; When train will reduce the speed of a motor vehicle, the driver pulled rotating speed or the output torque that handle reduces diesel engine again, though this moment, the speed of a motor vehicle can reduce, also extremely difficulty fixes on some velocity amplitudes the speed of a motor vehicle accurately.Especially on the more train circuit in some ramps, the driver always will be busy with pulling handle and adjust the speed of a motor vehicle.The driver has pulled traction handle evening during upward slope, and diesel engine is if can not in time provide enough tractive forces, and train may leave and not go up a slope; Pulled during descending handle evening, diesel engine is if can not in time reduce tractive force, and hypervelocity may appear in train.In above-mentioned two kinds of traditional control methods, the driver is actual to be not to be variation at the direct control train speed, but in the variation of control diesel engine horsepower output, this difficulty that makes driver driving train as prescribed velocity-stabilization travel greatly increases.
Summary of the invention
The object of the present invention is to provide a kind of traction control method of later-model diesel rail motor car, it has overcome traditional traction control method and has controlled the problem of controlling speed driving difficulty under complex road condition that train running speed causes indirectly because of relying on control diesel engine horsepower output.
Purpose of the present invention realizes by following technical solution: a kind of traction control method of diesel rail motor car is provided, and it comprises the acceleration/accel gear signal of exporting traction handle, the power demand gear signal of output traction invertor assembly, the diesel engine speed gear control signal of the vehicle-mounted central microcomputer of output, the exciter current of generator of the vehicle-mounted central microcomputer of output, the feedback power gear signal of the vehicle-mounted central microcomputer of output, the comparison of power gear, seven steps of AC-DC-AC current conversion of output traction control unit.Wherein, in above-mentioned each step, adopt safety protection control, and adopt the bussing technique transmission signals.
This control method is based on the traction system of alternating current driving type diesel rail motor car.The traction system of alternating current driving type diesel rail motor car comprises diesel engine assembly, pulling electric generator assembly, traction invertor assembly, traction motor assembly, vehicle-mounted central microcomputer, traction handle.Described diesel engine assembly further comprises diesel engine and some sensors.Described pulling electric generator assembly further comprises electrical generator and rectifier.Described traction invertor assembly further comprises traction invertor and traction control unit.
Preferably, described traction handle has 16 gears, the corresponding acceleration/accel gear signal of each gear.The acceleration/accel gear signal step of described output traction handle is used four command signal codings, and permutation and combination goes out 16 acceleration/accel gear signal.The acceleration/accel gear signal of described traction handle is input to the traction control unit by traction handle.The corresponding fixing acceleration levels of each acceleration/accel gear signal, tractive output is not exported in 0 grade of representative, 1 grade of representative at the uniform velocity, the 2-15 shelves are represented the different brackets acceleration/accel.The concrete numerical value of the cooresponding acceleration/accel of each acceleration levels is definitely unfixing, and is relevant with train load and road conditions.
Preferably, the power demand of described traction invertor assembly has 16 gears, the power demand signal of the corresponding traction invertor assembly of each gear.The power demand gear signal step of described output traction invertor assembly is used four command signal codings, and permutation and combination goes out the gear signal of the power demand of 16 traction invertor assemblies.The gear signal of the power demand of described traction invertor is input to vehicle-mounted central microcomputer by the traction control unit.The power demand gear of described traction invertor assembly is calculated according to the feedback power gear signal of traction invertor assembly horsepower output and vehicle-mounted central microcomputer by the decision of factors such as road conditions, car weight and acceleration/accel.
Preferably, the diesel engine speed gear control signal of the vehicle-mounted central microcomputer of described output is the pulse width modulation square-wave signal of control diesel engine speed gear, and this signal is input to the diesel engine assembly by vehicle-mounted central microcomputer.The pulse width modulation square-wave signal has 16 kinds of pulse duty cycles, the directly corresponding fixing diesel engine speed gear of the width of each pulse duty cycle modulated square wave, indirectly corresponding fixing pulling electric generator assembly output voltage; Pulse width modulation square-wave signal pulse duty cycle is big more, and the diesel engine speed gear is high more, and diesel engine speed is fast more.
Preferably, the exciter current of generator of described vehicle-mounted central microcomputer is input to the generator excitation winding.Vehicle-mounted central microcomputer carries out DC chopped-wave control according to diesel engine speed and generator loading to the exciting current of electrical generator, thereby realizes the control to generator output voltage.
Preferably, the feedback power of described vehicle-mounted central microcomputer has 16 gears, the feedback power gear signal of the corresponding vehicle-mounted central microcomputer of each gear.The feedback power gear signal step of the vehicle-mounted central microcomputer of described output is used four command signal codings, and permutation and combination goes out the feedback power gear signal of 16 vehicle-mounted central microcomputers.The feedback power gear signal of described vehicle-mounted central microcomputer is input to the traction control unit by vehicle-mounted central microcomputer.After each feedback power gear signal represents the diesel speed adjustment stable, the pairing gear of the actual speed of diesel engine and horsepower output.The feedback power gear signal of vehicle-mounted central microcomputer is calculated generation according to the rotating speed and the horsepower output of diesel engine.
Preferably, two kinds of gear signal of the power gear of described output traction control unit comparison step utilization are respectively the power demand gear signal of traction invertor assembly and the feedback power gear signal of vehicle-mounted central microcomputer.The logic operation rule of comparison output is as follows: if on behalf of electrical generator, the feedback power gear of the power demand gear≤vehicle-mounted central microcomputer of traction invertor assembly can provide the required power of traction invertor.At this moment, the power demand gear signal of traction invertor assembly is exported by former instruction in the traction control unit.If feedback power gear+1 of the power demand gear=vehicle-mounted central microcomputer of traction invertor assembly o'clock represents the power demand of traction invertor bigger one grade than the actual power that can provide of electrical generator.Because it is poor that diesel engine bears overload capacity, this moment, the traction control unit no longer continued upwards to promote the power demand gear of traction invertor assembly.If feedback power gear+2 of the power demand gear 〉=vehicle-mounted central microcomputer of traction invertor assembly o'clock, the actual power that can provide of electrical generator can not satisfy the needs of traction invertor far away.This moment, the traction control unit will reduce the power demand gear of traction invertor gradually, until forming balance again.
Preferably, described AC-DC-AC current conversion step comprises that alternating current becomes direct current (DC) and direct current (DC) becomes alternating current two parts.Electrical generator is through after the vehicle-mounted central microcomputer pressure regulation, and the alternating current of its output is converted to direct current (DC) by rectifier.After direct current (DC) transferred to traction invertor, traction invertor was converted to alternating current with direct current (DC) again, was used to drive traction motor.Be converted in the process of alternating current at direct current (DC), traction invertor will be controlled in the traction control unit in the traction invertor assembly, make the alternating current of traction invertor output voltage, frequency adjustable.
Preferably, described safety protection control comprises that reversing speed limit, gear return difference value are set, the diesel engine overload is protected and the diesel engine fault protection.Wherein, described reversing speed limit is meant that train is when reversing, the traction control unit can limit the reversing F-Zero, no matter traction handle is shifted any one acceleration/accel gear among the 2-15 onto, as long as car speed sensor monitoring train reaches the highest reversing speed per hour, train just begins with this speed constant-speed operation, no longer speed-raising.Described return difference value is set and is meant when vehicle-mounted central microcomputer and traction control unit define gear, will set out a return difference value between adjacent two gears, in case the stop position forms two grades swing concussion up and down at a point.Described diesel engine overload protection is meant as if vehicle-mounted central microcomputer monitoring after the diesel engine overload; vehicle-mounted central microcomputer will fall function signal to the output of traction control unit; the power demand of traction invertor can be reduced to half of demand just often, recovers normal until the sensor output parameter of diesel engine assembly.The diesel engine fault protection is meant as if vehicle-mounted central microcomputer monitoring after diesel engine assembly fault; vehicle-mounted central microcomputer will be to traction control unit output breakdown signal; traction invertor will reduce power demand gear to 0 gradually, and will be normal up to the sensor output parameter recovery of diesel engine assembly.
Preferably, the bussing technique transmission signals is used in respectively saving of diesel rail motor car between the motor-car, and the drawing-in motion that respectively saves motor-car with realization can the coordinating and unifying.Wherein, select for use Longworks BUS bussing technique to connect between each vehicle-mounted central microcomputer, select for use CAN BUS bussing technique to connect between each traction control unit.
The acceleration traction control method of diesel rail motor car of the present invention is compared with the horsepower output traction control method of traditional diesel rail motor car, because the driver can change by the direct control train speed, greatly reduce the train operator and under complex road condition, controlled the operation easier that speed is travelled, realized deciding the function of acceleration/accel speed-raising and cruise.The driver pulls traction handle and upgrades, the acceleration operation that train is just determined with traction handle.Driver's handle is shifted the gear more than 1 grade onto, no matter how the resistance to motion of road conditions changes, as long as the diesel engine power permission, train gives it the gun surely; When the speed of a motor vehicle has reached the speed that the driver needs, driver's handle is got back to 1 grade, and train remains a constant speed and travels, no matter how the resistance to motion of road conditions changes, as long as the diesel engine power permission, and the train operation that still can remain a constant speed; When the needs reduction of speed, the driver drops to 0 grade to traction handle, and the train traction system stops to export tractive output, can adopt air brake or electric braking to carry out reduction of speed or parking then.
Description of drawings
In order to make the present invention be more convenient for understanding, most preferred embodiment of the present invention is described in conjunction with the accompanying drawings now.
Fig. 1 is the diagram of circuit of most preferred embodiment of the acceleration traction control method of diesel rail motor car of the present invention.
Fig. 2 is the Parameter Map of the acceleration/accel gear signal of traction handle embodiment illustrated in fig. 1.
Fig. 3 is the Parameter Map of the power demand gear signal of traction invertor assembly embodiment illustrated in fig. 1.
Fig. 4 is the Parameter Map of the feedback power gear signal of diesel engine speed gear control signal embodiment illustrated in fig. 1 and vehicle-mounted central microcomputer.
The specific embodiment
The working process of following casehistory diagram most preferred embodiment.The train operator pulls traction handle to a certain gear, and the acceleration/accel gear signal that makes traction handle send traction handle arrives the traction control unit, and the traction invertor assembly begins horsepower output and drives train operation.In the trailer wheel axial end one four delivery channel formula photoelectric vehicle speed sensors is installed, vehicle speed signal is constantly imported the pull-in control system of train.The diesel engine actual speed that the vehicle speed signal that the traction control unit transmits according to the analysis car speed sensor, vehicle-mounted central microcomputer feedback are come and the acceleration/accel gear signal of horsepower output gear signal and traction handle, calculate the power demand gear of traction invertor assembly, and the power demand gear signal of transmission traction invertor assembly is to vehicle-mounted central microcomputer.Because train is for deciding the acceleration/accel speed-raising, the power demand of traction invertor assembly will increase with the continuous rising of the speed of a motor vehicle, so the power demand gear of traction invertor assembly also can constantly raise.After vehicle-mounted central microcomputer is received the power demand gear of traction invertor assembly, begin to export diesel engine speed gear control signal, i.e. the pulse width modulation square-wave signal; And send exciter current of generator to the pulling electric generator assembly.Described pulse width modulation square-wave signal is initiatively output, because vehicle-mounted central microcomputer directly determines the rotating speed of diesel engine, the alternating-current voltage/AC voltage of electrical generator output and the vdc of rectifier output; Described exciter current of generator is passive output, this output signal is determined by extraneous load, when strengthening, the load in the external world can cause that vdc descends, vehicle-mounted central microcomputer can increase exciting current and made vdc go back up to the value that will keep this moment, diesel engine is constant in order to keep rotating speed, increases fuel delivery per cycle automatically.Vice versa.Under each gear, as long as the required gross horsepower of traction invertor is no more than the maximum constraints power under this gear rotating speed of diesel engine, the fuel charge of diesel engine is just adjusted voluntarily; When diesel engine impassabitity under this gear rotating speed increased fuel charge and satisfies the traction invertor power demand, then vehicle-mounted central microcomputer sent pulse width modulation square-wave signal order diesel engine and heightens a rotating speed gear.The direct current (DC) of pulling electric generator assembly output enters the alternating current that is converted into voltage and frequency adjustable behind the traction invertor assembly, in order to drive traction motor.Behind the output diesel engine speed gear control signal, diesel engine begins to adjust the rotating speed gear, and electrical generator begins to adjust exciting current.Vehicle-mounted central microcomputer calculates a cooresponding feedback power gear according to the actual speed and the horsepower output of diesel engine, and with feedback power gear signal input traction control unit.The closed loop control of pull-in control system is realized according to the output of comparing of the feedback power gear signal of the power demand gear signal of traction invertor assembly and vehicle-mounted central microcomputer in the traction control unit.The logic operation rule of comparison output is as follows: if the feedback power gear of the power demand gear≤vehicle-mounted central microcomputer of traction invertor assembly shows that electrical generator can provide traction invertor required power.At this moment, the power demand gear signal of traction invertor assembly is exported by former instruction in the traction control unit.If feedback power gear+1 of the power demand gear=vehicle-mounted central microcomputer of traction invertor assembly o'clock shows that the power demand of traction invertor is bigger one grade than the actual power that can provide of electrical generator.Because it is poor that diesel engine bears overload capacity, this moment, the traction control unit no longer continued upwards to promote the power demand gear of traction invertor assembly.If feedback power gear+2 of the power demand gear 〉=vehicle-mounted central microcomputer of traction invertor assembly o'clock, the actual power that can provide of electrical generator can not satisfy the needs of traction invertor far away.This moment, the traction control unit will reduce the power demand gear of traction invertor gradually, until forming balance again.When reversing, the highest reversing speed per hour of train can be placed restrictions in the traction control unit.No matter traction handle is shifted any one acceleration/accel gear among the 2-15 onto, as long as car speed sensor monitoring train reaches the highest reversing speed per hour, train just begins with this speed constant-speed operation.When vehicle-mounted central microcomputer and traction control unit define gear, to set out a return difference value between adjacent two gears, in case the stop position forms two grades swing concussion up and down at a point.Sensor on the diesel engine assembly imports diesel engine speed signal, cooling-liquid temperature signal, engine oil pressure signal, refrigerant fluid liquid level signal and MAT signal into vehicle-mounted central microcomputer.If vehicle-mounted central microcomputer monitoring is after the diesel engine overload, vehicle-mounted central microcomputer will fall function signal to traction control unit output diesel engine, the power demand of traction invertor can be reduced to half of demand just often, recovers normal until the sensor output parameter of diesel engine assembly.If vehicle-mounted central microcomputer monitoring is after diesel engine assembly fault, vehicle-mounted central microcomputer will be to traction control unit output breakdown signal, and traction invertor will reduce power demand gear to 0 gradually, and will be normal up to the sensor output parameter recovery of diesel engine assembly.The bussing technique transmission signals is used in respectively saving of diesel rail motor car between the motor-car, the drawing-in motion that respectively saves motor-car with realization can the coordinating and unifying.Wherein, select for use Longworks BUS bussing technique to connect between each vehicle-mounted central microcomputer, select for use CAN BUS bussing technique to connect between each traction control unit.
Abovely describe in detail in conjunction with the preferred embodiments of the present invention, but this is not a limitation of the present invention, every technical spirit according to the present invention program is to any simple modification that above embodiment did, and equivalent variations and modification all still belong within the present invention program's the scope.
Claims (11)
1. the traction control method of a diesel rail motor car comprises the steps:
The acceleration/accel gear signal of A, output traction handle;
The power demand gear signal of B, output traction invertor assembly;
The diesel engine speed gear control signal of C, the vehicle-mounted central microcomputer of output;
The exciter current of generator of D, the vehicle-mounted central microcomputer of output;
The feedback power gear signal of E, the vehicle-mounted central microcomputer of output;
The power gear comparison of F, traction control unit;
G, AC-DC-AC current conversion;
Wherein, in above-mentioned each step, adopt safety protection control, and adopt the bussing technique transmission signals.
2. the traction control method of diesel rail motor car as claimed in claim 1 is characterized in that:
In steps A, traction handle has 16 gears, the corresponding acceleration/accel gear signal of each gear;
The acceleration/accel gear signal of described output traction handle is used four command signal codings, and permutation and combination goes out 16 acceleration/accel gear signal;
By traction handle the acceleration/accel gear signal of traction handle is input to the traction control unit;
The corresponding fixing acceleration levels of each acceleration/accel gear signal, tractive output is not exported in 0 grade of representative, 1 grade of representative at the uniform velocity, the 2-15 shelves are represented the different brackets acceleration/accel;
The concrete numerical value of the cooresponding acceleration/accel of each acceleration levels is definitely unfixing, and is relevant with train load and road conditions.
3. the traction control method of diesel rail motor car as claimed in claim 1 or 2 is characterized in that:
In step B, the power demand of traction invertor assembly has 16 gears, the power demand signal of the corresponding traction invertor assembly of each gear;
The power demand gear signal of described output traction invertor assembly is used four command signal codings, and permutation and combination goes out the gear signal of the power demand of 16 traction invertor assemblies;
By the traction control unit power demand gear signal of traction invertor assembly is input to vehicle-mounted central microcomputer;
The power demand gear of traction invertor assembly is calculated according to the feedback power gear signal of traction invertor assembly horsepower output and vehicle-mounted central microcomputer by the decision of factors such as road conditions, car weight and acceleration/accel.
4. as the traction control method of each described diesel rail motor car among the claim 1-3, it is characterized in that:
In step C, export the pulse width modulation square-wave signal of the diesel engine speed gear control signal of vehicle-mounted central microcomputer for control diesel engine speed gear;
The pulse width modulation square-wave signal has 16 kinds of pulse duty cycles, the directly corresponding fixing diesel engine speed gear of the width of each pulse duty cycle modulated square wave, indirectly corresponding fixing pulling electric generator assembly output voltage;
Pulse width modulation square-wave signal pulse duty cycle is big more, and the diesel engine speed gear is high more, and diesel engine speed is fast more;
Described diesel engine speed gear control signal is input to the diesel engine assembly by vehicle-mounted central microcomputer.
5. as the traction control method of each described diesel rail motor car among the claim 1-4, it is characterized in that:
In step D, the exciter current of generator of vehicle-mounted central microcomputer is input to the generator excitation winding;
Vehicle-mounted central microcomputer carries out DC chopped-wave control according to diesel engine speed and generator loading to the exciting current of electrical generator, thereby realizes the control to generator output voltage.
6. as the traction control method of each described diesel rail motor car among the claim 1-5, it is characterized in that:
In step e, the feedback power of described vehicle-mounted central microcomputer has 16 gears, the feedback power gear signal of the corresponding vehicle-mounted central microcomputer of each gear;
The feedback power gear signal of the vehicle-mounted central microcomputer of described output is used four command signal codings, and permutation and combination goes out the feedback power gear signal of 16 vehicle-mounted central microcomputers;
By vehicle-mounted central microcomputer the feedback power gear signal of vehicle-mounted central microcomputer is input to the traction control unit;
After each feedback power gear signal has represented the diesel speed adjustment stable, the pairing gear of the actual speed of diesel engine and horsepower output;
The feedback power gear signal of vehicle-mounted central microcomputer is calculated generation according to the rotating speed and the horsepower output of diesel engine.
7. as the traction control method of each described diesel rail motor car among the claim 1-6, it is characterized in that:
In step F, two kinds of gear signal of the power gear of described output traction control unit comparison utilization are respectively the power demand gear signal of traction invertor assembly and the feedback power gear signal of vehicle-mounted central microcomputer;
The logic operation rule of comparison output is as follows: 1) if the feedback power gear of the power demand gear≤vehicle-mounted central microcomputer of traction invertor assembly, the traction control unit is by former instruction, the power demand gear signal of output traction invertor assembly; 2) if feedback power gear+1 of the power demand gear=vehicle-mounted central microcomputer of traction invertor assembly o'clock, the traction control unit no longer continues upwards to promote the power demand gear of traction invertor assembly; 3) if feedback power gear+2 of the power demand gear 〉=vehicle-mounted central microcomputer of traction invertor assembly o'clock, the traction control unit reduces the power demand gear of traction invertor gradually, until forming balance again.
8. as the traction control method of each described diesel rail motor car among the claim 1-7, it is characterized in that:
In step G, described AC-DC-AC current conversion comprises that alternating current becomes direct current (DC) and direct current (DC) becomes alternating current two parts;
Electrical generator is through after the vehicle-mounted central control of microcomputer pressure regulation, and the alternating current of its output is converted to direct current (DC) by rectifier;
After direct current (DC) transferred to traction invertor, traction invertor was converted to alternating current with direct current (DC) again, was used to drive traction motor;
Be converted in the process of alternating current at direct current (DC), traction invertor will be controlled in the traction control unit in the traction invertor assembly, make the alternating current of traction invertor output voltage, frequency adjustable.
9. as the traction control method of each described diesel rail motor car among the claim 1-8, it is characterized in that:
Described safety protection control comprises that reversing speed limit, gear return difference value are set, the diesel engine overload is protected and the diesel engine fault protection, wherein said reversing speed limit is meant that train is when reversing, the traction control unit can limit the reversing F-Zero, no matter traction handle is shifted any one acceleration/accel gear among the 2-15 onto, as long as car speed sensor monitoring train reaches the highest reversing speed per hour, train just begins with this speed constant-speed operation; Described return difference value is set and is meant when vehicle-mounted central microcomputer and traction control unit define gear, will set out a return difference value between adjacent two gears, in case the stop position forms two grades swing concussion up and down at a point; Wherein said diesel engine overload protection is meant as if vehicle-mounted central microcomputer monitoring after the diesel engine overload, vehicle-mounted central microcomputer is exported to the traction control unit and is fallen function signal, the power demand of traction invertor can be reduced to half of demand just often, recovers normal until the sensor output parameter of diesel engine assembly; Wherein said diesel engine fault protection is meant as if vehicle-mounted central microcomputer monitoring after diesel engine assembly fault; vehicle-mounted central microcomputer will be to traction control unit output breakdown signal; traction invertor will reduce power demand gear to 0 gradually, and will be normal up to the sensor output parameter recovery of diesel engine assembly.
10. as the traction control method of each described diesel rail motor car in the claim 1 to 9, it is characterized in that: select for use Longworks BUS bussing technique to connect between each vehicle-mounted central microcomputer; Select for use CAN BUS bussing technique to connect between each traction control unit.
11. the traction control method as each described diesel rail motor car in the claim 1 to 10 is characterized in that: the pull-in control system that is applicable to alternating current driving type diesel rail motor car.
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| CN2009102107252A CN101691116B (en) | 2009-11-06 | 2009-11-06 | Acceleration traction control method for diesel motor vehicle |
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| CN109421755A (en) * | 2017-08-31 | 2019-03-05 | 株洲中车时代电气股份有限公司 | A kind of method and system that the torque for controlling train exports |
| CN109421755B (en) * | 2017-08-31 | 2022-11-29 | 株洲中车时代电气股份有限公司 | Method and system for controlling torque output of train |
| CN109387781A (en) * | 2018-12-04 | 2019-02-26 | 北京交通大学 | Switching device method for estimating damage, device and equipment |
| CN109387781B (en) * | 2018-12-04 | 2023-11-24 | 北京交通大学 | Switching device damage evaluation method, device and equipment |
| CN110816560A (en) * | 2019-11-20 | 2020-02-21 | 株洲中车时代软件技术有限公司 | Control method and device for traction inverter of rail transit vehicle |
| CN117097204A (en) * | 2023-10-20 | 2023-11-21 | 四川通安航天科技有限公司 | Motor control method based on rotary encoder detection |
| CN117097204B (en) * | 2023-10-20 | 2023-12-29 | 四川通安航天科技有限公司 | Motor control method based on rotary encoder detection |
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