CN107161127A - A kind of tractor service brake and auxiliary braking combined brake control method - Google Patents
A kind of tractor service brake and auxiliary braking combined brake control method Download PDFInfo
- Publication number
- CN107161127A CN107161127A CN201710263459.4A CN201710263459A CN107161127A CN 107161127 A CN107161127 A CN 107161127A CN 201710263459 A CN201710263459 A CN 201710263459A CN 107161127 A CN107161127 A CN 107161127A
- Authority
- CN
- China
- Prior art keywords
- slip rate
- wheel slip
- tractor
- control device
- braking
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 241001347978 Major minor Species 0.000 claims description 17
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 2
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000004913 activation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000979 retarding effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/03—Brake assistants
Abstract
The present invention relates to a kind of tractor service brake and auxiliary braking combined brake control method.In the case of being had turned on for tractor EBA, driver and brake pedal, the braking moment that now auxiliary braking and service brake are produced is superimposed upon the problem of vehicle rear axle causes vehicle braking force distribution inequality, causes rear axle locking or sideslip, propose the control method of a kind of tractor braking and auxiliary braking Associated brake, the brake force dynamically distributes good to realize, prevent locking and sideslip caused by the braking superposition of tractor rear axle.The present invention not only improves vehicle insensitivity by slip-based controller, reduce tractor seized and sideslip caused by rear axle braking superposition, improve vehicle insensitivity and driving safety, and by reasonably utilizing EBA, vehicle tyre and friction disc wear are reduced, conevying efficiency and economic benefit is improved.
Description
Technical field
The invention belongs to motor vehicle braking system control technology field, it is related to a kind of tractor service brake and auxiliary braking connection
Close brake control method.
Background technology
With the increase of highway in China mileage, the ratio that highway transportation is taken on transport market at home is increasing.It is right
In the vehicle of mountain area highway transportation, because long descending section is more, continuous braking for a long time can cause brake-shoe temperature too high, brake
Torque declines, situations such as vehicle brake fade, therefore installs the tractor of auxiliary braking and also increasingly popularize in transit.
Although EBA is reduced long down hill braking decay, reduces tire wear, the advantages of saving cost, by
Have that stopping power is limited, the defect such as braking torque change with the change of rotating speed/speed in itself in EBA, at present absolutely
Most of tractor EBA and service braking system, which are intended only as single system, to be present, under some special operation conditions
Easily there is auxiliary braking and service brake is uncoordinated, the problem of vehicle braking force distribution is uneven.Such as long descending road conditions are used
Auxiliary braking is, it is necessary to turn, slow down or during brake hard, and driver enables service brake, and service brake and auxiliary braking are produced
Braking moment collective effect in vehicle rear axle, there is the excessive easy generation rear axle locking and sideslip of vehicle braking force square superposition
Danger.
Chinese patent CN105235664A discloses a kind of heavy-duty car retarder integrated control method, and the control method exists
Retarder function can the slow switch of automatic detection intelligence, the slow function of activation intelligence after opening.The slow function of intelligence is a kind of base
In the control method of brake pedal aperture Intelligent adjustment retarder braking power, during do not need driver regulation retarder hand
Handle, aids in vehicle to carry out retarding braking by brake pedal aperture regulation retarder braking power.When brake pedal aperture is 0%
The moment of torsion control of retarder 0%~100% is realized in~25% open range, when brake pedal aperture reaches 25%, retarder
Perform the moment of torsion control of maximum brake power -100%.But the control accuracy of such a integrated control method is low, in middle small intensity system
When dynamic, it is difficult to which the required severity of braking of driver, when actuating brake pedal 25%, retarder 100% are arrived in accurate control
Effect, such a method is easier to cause that vehicle braking force distribution is uneven, and severity of braking is excessive, and braking pitching is serious, comfortableness compared with
Difference.
Chinese patent CN104044571A discloses a kind of truck combination associated braking system and method, by trailer
Retarder is installed in face, is realized trailer air-pressure brake and is hung the Associated brake of retarder for vehicles, when speed is more than 10km/h, joint system
Dynamic System Priority is braked using retarder, and when the brake force that retarder is provided is insufficient for demand, executing agency makes retarder
Braked simultaneously with trailer service brake, but this invention only takes into account the state of trailer, and the brake force that retarder is provided is averaged
It is assigned on each axletree of trailer, but for installing the tractor of retarder, the brake force that retarder is provided is acted only on
Above driving wheel, therefore control method in foregoing invention is not applied to tractor.
To sum up, during driver uses auxiliary braking, system has been stepped on according to actual travel situation such as speed is too fast etc.
Dynamic pedal, service brake is applied with to vehicle again, and the braking moment that auxiliary braking and service brake are produced is superimposed upon vehicle rear axle
Vehicle braking force distribution inequality can be caused, cause rear axle locking or sideslip.The vehicle of existing matching auxiliary braking lacks one kind
Crucial control method makes EBA cooperate with traditional service braking system to realize dynamic that vehicle is good
Braking force distribution.
The content of the invention
The purpose of the present invention is that there is provided a kind of tractor service brake and auxiliary for above-mentioned the deficiencies in the prior art
Braking combined brake control method is helped, the good braking force distribution to realize prevents that the braking superposition of tractor rear axle is caused
Locking and sideslip.
The purpose of the present invention is achieved through the following technical solutions：
A kind of tractor service brake and auxiliary braking combined brake control method, comprise the following steps：
A, vehicle control device VCU judge that tractor enters major-minor coordinated signals function, and monitor and up till now function ought open shape
State；
B, vehicle control device VCU judge whether current vehicle speed V is more than minimum setting vehicle velocity V min, such as V>Vmin, performs step
Rapid c, on the contrary then execution step m；
C, vehicle control device VCU are according to current working speed, each wheel each wheel slip rate S of wheel speed calculation vehicle and record；
D, vehicle control device VCU judge whether now service brake participates according to brake pedal displacement transducer, in this way then
Into step e；If not, performing step h；
E, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1, such as draw
Back wheels of vehicle slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrAfter being more than
Wheel slip rate threshold value S1, perform step g；
F, vehicle control device VCU keep and continue before major-minor linkage work state；
G, vehicle control device VCU send pressurize instruction, and actuating mechanism controls trailing wheel ABS magnetic valves keep existing pressure, and
Judge tractor front wheel slip rate SfWhether front wheel slip rate threshold value S is reached2；Such as front wheel slip rate SfLess than or equal to preceding skidding
Shifting rate threshold value S2, perform step f；Such as front wheel slip rate SfMore than front wheel slip rate threshold value S2, vehicle control device VCU activation
ABS anti-lock braking system(ABS)s, are simultaneously emitted by instruction and exit EBA；
H, vehicle control device VCU judge the working condition of retarder and engine braking, and such as only retarder works, and perform
Step i；Such as retarder and engine braking work simultaneously, perform step k；
I, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1；As drawn
Back wheels of vehicle slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrAfter being more than
Wheel slip rate threshold value S1, perform step j；
J, vehicle control device VCU send reduction torque command to buffer controller RCU, and retarder RCU, which sends instruction, to be made
Respective execution mechanisms reduce braking torque；
K, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1, such as draw
Back wheels of vehicle slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrAfter being more than
Wheel slip rate threshold value S1, perform step l；
L, vehicle control device VCU send releasing engine braking command, and engine braking is released, while to retarder RCU
Reduction torque command is sent, retarder RCU, which sends instruction, makes respective execution mechanisms reduce braking torque；
M, vehicle control device VCU monitor whether major-minor coordinated signals function is cancelled, in this way, perform step n；Such as no, execution
Step b；
N, exit major-minor coordinated signals function.
Compared with prior art, the beneficial effect of invention is：The present invention is auxiliary by controlling whole vehicle controller to realize
Jointly controlling for brakes and service braking system is helped, vehicle insensitivity is improved by the control of wheel slip, subtracted
Lack tractor seized and sideslip caused by rear axle braking superposition, improve vehicle insensitivity and driving safety,
And by reasonably utilize EBA, reduce vehicle tyre abrasion and friction disc wear, improve conevying efficiency and
Economic benefit.
Brief description of the drawings
Fig. 1 is tractor service brake of the present invention and auxiliary braking associated braking system control method flow chart.
Embodiment
The embodiment that the invention will now be described in detail with reference to the accompanying drawings.
As shown in figure 1, after vehicle control device VCU monitors that the major-minor coordinated signals function of tractor is opened, according to current work
The car speed of condition, the wheel speed calculation of each wheel go out the slip rate S that now vehicle is respectively taken turns, and judge that current vehicle speed is set with minimum
Determine vehicle velocity V min size, such as current vehicle speed V is less than or equal to minimum setting vehicle velocity V min, then judges that major-minor coordinated signals function is
It is no to be cancelled, such as cancel, then exit.
As current vehicle speed V is sentenced more than minimum setting vehicle velocity V min, vehicle control device VCU by brake pedal displacement transducer
It is disconnected to whether there is service brake, such as there is the participation of service brake, vehicle control device starts to judge tractor rear wheel slip rate Sr
Whether rear wheel slip rate threshold value S is reached1If, tractor rear wheel slip rate SrLess than or equal to rear wheel slip rate threshold value S1, car
Controller keep and continue before major-minor linkage work state；If tractor rear wheel slip rate SrMore than rear wheel slip rate
Threshold value S1, vehicle control device VCU send pressurize instruction, actuating mechanism controls trailing wheel ABS magnetic valves to keep existing pressure, and
Continue to monitor front wheel slip rate SfIf, now front wheel slip rate SfReach threshold value S2, vehicle triggering ABS anti-lock braking system(ABS)s,
EBA is exited, and brake control function is transferred to abs controller control by vehicle control device VCU.Such as front wheel slip rate Sf
Not up to slip rate threshold value S2, vehicle control device keep and continue before major-minor linkage work state.
Such as vehicle control device VCU is judged now in the absence of service brake, then carries out EBA Inner link judgement,
Judge major-minor Associated brake whether by retarder independent brake.If only retarder mode of operation, vehicle control device VCU judges
Tractor rear wheel slip rate SrWith rear wheel slip rate threshold value S1Size, such as tractor rear wheel slip rate SrLess than or equal to trailing wheel
Slip rate threshold value S1, vehicle control device keep and continue before major-minor linkage work state；Such as tractor rear wheel slip rate Sr
More than rear wheel slip rate threshold value S1, vehicle control device VCU sends reduction torque command, retarder to buffer controller RCU
RCU, which sends instruction, makes respective execution mechanisms reduce braking torque.
If vehicle control device VCU judgment result displays retarder and engine braking are braked together, vehicle control device
VCU continues to judge rear wheel slip rate SrWith rear wheel slip rate threshold value S1Size, such as rear wheel slip rate SrLess than or equal to threshold value
S1, vehicle control device keep and continue before major-minor linkage work state；Such as rear wheel slip rate SrMore than threshold value S1, vehicle
Controller VCU sends releasing engine braking command, and engine braking is released, and refers to while sending reduction moment of torsion to retarder RCU
Order, retarder RCU, which sends instruction, makes respective execution mechanisms reduce braking torque.
When the controller detects that major-minor coordinated signals function is cancelled, then major-minor coordinated signals function is exited.
Claims (1)
1. a kind of tractor service brake and auxiliary braking combined brake control method, it is characterised in that comprise the following steps：
A, vehicle control device VCU judge that tractor enters major-minor coordinated signals function, and monitor ought up till now function opening；
B, vehicle control device VCU judge whether current vehicle speed V is more than minimum setting vehicle velocity V min, such as V>Vmin, performs step c,
On the contrary then execution step m；
C, vehicle control device VCU are according to current working speed, each wheel each wheel slip rate S of wheel speed calculation vehicle and record；
D, vehicle control device VCU judge whether now service brake participates according to brake pedal displacement transducer, then enter in this way
Step e；If not, performing step h；
E, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1, as after tractor
Wheel slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrMore than rear skidding
Shifting rate threshold value S1, perform step g；
F, vehicle control device VCU keep and continue before major-minor linkage work state；
G, vehicle control device VCU send pressurize instruction, and actuating mechanism controls trailing wheel ABS magnetic valves keep existing pressure, and judge
Tractor front wheel slip rate SfWhether front wheel slip rate threshold value S is reached2；Such as front wheel slip rate SfLess than or equal to front wheel slip rate
Threshold value S2, perform step f；Such as front wheel slip rate SfMore than front wheel slip rate threshold value S2, vehicle control device VCU, which activates ABS, to be prevented
Block braking system, is simultaneously emitted by instruction and exits EBA；
H, vehicle control device VCU judge the working condition of retarder and engine braking, and such as only retarder works, and perform step
i；Such as retarder and engine braking work simultaneously, perform step k；
I, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1；As after tractor
Wheel slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrMore than rear skidding
Shifting rate threshold value S1, perform step j；
J, vehicle control device VCU send reduction torque command to buffer controller RCU, and retarder RCU, which sends instruction, to be made accordingly
Executing agency reduces braking torque；
K, vehicle control device VCU judge tractor rear wheel slip rate SrWhether rear wheel slip rate threshold value S is reached1, as after tractor
Wheel slip rate SrLess than or equal to rear wheel slip rate threshold value S1, perform step f；Such as tractor rear wheel slip rate SrMore than rear skidding
Shifting rate threshold value S1, perform step l；
L, vehicle control device VCU send releasing engine braking command, and engine braking is released, while being sent to retarder RCU
Torque command is reduced, retarder RCU, which sends instruction, makes respective execution mechanisms reduce braking torque；
M, vehicle control device VCU monitor whether major-minor coordinated signals function is cancelled, in this way, perform step n；Such as no, execution step
b；
N, exit major-minor coordinated signals function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263459.4A CN107161127B (en) | 2017-04-21 | 2017-04-21 | A kind of tractor service brake and auxiliary braking combined brake control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710263459.4A CN107161127B (en) | 2017-04-21 | 2017-04-21 | A kind of tractor service brake and auxiliary braking combined brake control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107161127A true CN107161127A (en) | 2017-09-15 |
| CN107161127B CN107161127B (en) | 2019-06-04 |
Family
ID=59812614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710263459.4A Active CN107161127B (en) | 2017-04-21 | 2017-04-21 | A kind of tractor service brake and auxiliary braking combined brake control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107161127B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110371129A (en) * | 2019-06-28 | 2019-10-25 | 湖南行必达网联科技有限公司 | Main vehicle and trailer braking protection valve consistency judgment method, device and braking system |
| CN111357252A (en) * | 2017-11-10 | 2020-06-30 | Syn重工股份有限公司 | Control unit and control system for a vehicle and auxiliary device combination |
| CN112622856A (en) * | 2020-12-25 | 2021-04-09 | 中国第一汽车股份有限公司 | Regenerative braking method and device for hybrid power assembly rack, vehicle and medium |
| CN114228718A (en) * | 2022-01-18 | 2022-03-25 | 潍柴动力股份有限公司 | Control method and control system for braking of hybrid power tractor |
| CN115367653A (en) * | 2022-09-15 | 2022-11-22 | 中国矿业大学 | Mine hoist brake control method considering brake shoe temperature and wear degree |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101526A (en) * | 2011-11-10 | 2013-05-15 | 福特全球技术公司 | Trailer hold assist during standstill |
| CN103407449A (en) * | 2013-08-23 | 2013-11-27 | 吉林大学 | Hydraulic auxiliary driving and braking system and control method thereof |
| CN104828044A (en) * | 2014-07-03 | 2015-08-12 | 北汽福田汽车股份有限公司 | Braking control method and braking control system of vehicle |
| CN103661334B (en) * | 2013-12-20 | 2015-11-11 | 北京万得嘉瑞汽车技术有限公司 | A kind of control method of vehicle electronics brakig force distribution |
| CN105313864A (en) * | 2015-11-11 | 2016-02-10 | 吉林大学 | Commercial automobile semitrailer braking force distribution method based on feedback control |
| CN105818668A (en) * | 2016-04-21 | 2016-08-03 | 中国第汽车股份有限公司 | Hydraulic auxiliary driving system with energy recovery and speed slowing functions and method thereof |
-
2017
- 2017-04-21 CN CN201710263459.4A patent/CN107161127B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101526A (en) * | 2011-11-10 | 2013-05-15 | 福特全球技术公司 | Trailer hold assist during standstill |
| CN103407449A (en) * | 2013-08-23 | 2013-11-27 | 吉林大学 | Hydraulic auxiliary driving and braking system and control method thereof |
| CN103661334B (en) * | 2013-12-20 | 2015-11-11 | 北京万得嘉瑞汽车技术有限公司 | A kind of control method of vehicle electronics brakig force distribution |
| CN104828044A (en) * | 2014-07-03 | 2015-08-12 | 北汽福田汽车股份有限公司 | Braking control method and braking control system of vehicle |
| CN105313864A (en) * | 2015-11-11 | 2016-02-10 | 吉林大学 | Commercial automobile semitrailer braking force distribution method based on feedback control |
| CN105818668A (en) * | 2016-04-21 | 2016-08-03 | 中国第汽车股份有限公司 | Hydraulic auxiliary driving system with energy recovery and speed slowing functions and method thereof |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111357252A (en) * | 2017-11-10 | 2020-06-30 | Syn重工股份有限公司 | Control unit and control system for a vehicle and auxiliary device combination |
| CN110371129A (en) * | 2019-06-28 | 2019-10-25 | 湖南行必达网联科技有限公司 | Main vehicle and trailer braking protection valve consistency judgment method, device and braking system |
| CN112622856A (en) * | 2020-12-25 | 2021-04-09 | 中国第一汽车股份有限公司 | Regenerative braking method and device for hybrid power assembly rack, vehicle and medium |
| CN112622856B (en) * | 2020-12-25 | 2022-02-08 | 中国第一汽车股份有限公司 | Regenerative braking method and device for hybrid power assembly rack, vehicle and medium |
| CN114228718A (en) * | 2022-01-18 | 2022-03-25 | 潍柴动力股份有限公司 | Control method and control system for braking of hybrid power tractor |
| CN114228718B (en) * | 2022-01-18 | 2024-03-19 | 潍柴动力股份有限公司 | Control method and control system for braking of hybrid power tractor |
| CN115367653A (en) * | 2022-09-15 | 2022-11-22 | 中国矿业大学 | Mine hoist brake control method considering brake shoe temperature and wear degree |
| CN115367653B (en) * | 2022-09-15 | 2023-03-28 | 中国矿业大学 | Mine hoist brake control method considering brake shoe temperature and wear degree |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107161127B (en) | 2019-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107161127B (en) | A kind of tractor service brake and auxiliary braking combined brake control method | |
| US11634110B2 (en) | Method for adjusting brake pressures of a vehicle, and brake system for carrying out the method | |
| US10029660B2 (en) | Method for controlling a brake device in a traction vehicle-trailer combination and brake device controlled according to said method | |
| US20180229705A1 (en) | Abs strategy for hybrid brake actuators | |
| JP2011512295A (en) | Electronically controlled brake device for tractors | |
| CN110936943A (en) | Electronic control brake system of commercial vehicle | |
| CN110936940A (en) | Commercial vehicle ESC system based on AEBS relay valve | |
| JP4983270B2 (en) | Brake device | |
| US8965655B2 (en) | Method for operating a brake-slip regulating arrangement of a brake system of a vehicle | |
| CN2925986Y (en) | Stabilized electronic controlling system for medium-heavy automobile | |
| US11059467B2 (en) | Braking force control apparatus for vehicle | |
| CN111572518A (en) | Hill starting braking device applied to air brake vehicle type and starting method | |
| CN110641431A (en) | Electronic braking system of commercial vehicle | |
| EP4206048A1 (en) | Control device and control method | |
| CN211710804U (en) | Electronic control brake system of commercial vehicle | |
| CN211731350U (en) | Commercial vehicle ESC system based on AEBS relay valve | |
| JPH10129434A (en) | Slope start controlling device for tractor/trailer | |
| CN113060107A (en) | Combined braking control system and method for heavy-load transport vehicle | |
| CN219382456U (en) | Vehicle with a vehicle body having a vehicle body support | |
| JP3405387B2 (en) | Vehicle braking force control device | |
| US20220324424A1 (en) | Brake System for Commercial Vehicle | |
| JP2757256B2 (en) | Brake hydraulic pressure control method for hydraulic brake system for automobile | |
| CN117584766A (en) | Parking brake control method and system and motor vehicle | |
| CN112208342A (en) | Brake system of electric vehicle and electric vehicle | |
| Zheng et al. | A Braking Force Distribution Strategy in Integrated Braking System Based on Wear Control and Hitch Force Control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231224 Address after: No.1, xinhongqi street, automobile economic and Technological Development Zone, Changchun, Jilin Province Patentee after: China Faw Co.,Ltd. Patentee after: CHANGCHUN AUTOMOTIVE TEST CENTER Co.,Ltd. Address before: 130011 2259 Dongfeng Street, Xinxin economic and Technological Development Zone, Changchun, Jilin Patentee before: China Faw Co.,Ltd. |