CN108215795A - Varying load method for limiting speed, system and track fire fighting truck - Google Patents
Varying load method for limiting speed, system and track fire fighting truck Download PDFInfo
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- CN108215795A CN108215795A CN201711422649.2A CN201711422649A CN108215795A CN 108215795 A CN108215795 A CN 108215795A CN 201711422649 A CN201711422649 A CN 201711422649A CN 108215795 A CN108215795 A CN 108215795A
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- fire fighting
- fighting truck
- load
- track fire
- travel speed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K2031/0091—Speed limiters or speed cutters
Abstract
The embodiment of the present invention provides a kind of varying load method for limiting speed, system and track fire fighting truck, belongs to track fire fighting truck technical field, solves the problems, such as the driving performance that cannot give full play to track fire fighting truck in the prior art.The system comprises：Load detecting device, for detecting the load information of track fire fighting truck carrying；Speed detector, for detecting the travel speed of the track fire fighting truck；And central control module, for according to acquired load information, it determines the travel speed limit value corresponding with default safe stopping distance of the track fire fighting truck, and when the travel speed of the track fire fighting truck is more than the travel speed limit value, performs speed limit operation.During the embodiment of the present invention is suitable for the travel speed of control track fire fighting truck.
Description
Technical field
The present invention relates to track fire fighting truck technical field, more particularly to a kind of varying load method for limiting speed, system and track
Fire fighting truck.
Background technology
Track fire fighting truck refers to not only can be in ground run but also the dual-purpose fire fighting truck of rail that can be travelled on rail.According to
Track fire fighting truck, can be divided into guide-roller type driving by the type of drive travelled on track and partition type drives two kinds.For partition type
When the track fire fighting truck of driving is run on the railroad track, hydraulic motor is generally driven using volume adjustable hydraulic pump, hydraulic motor connects
Traveling wheel is connect to making its forward or backward.When vehicle needs to regulate the speed, change variable capacity oil pump opening discharge capacity, you can increase or
Reduce the rotating speed of hydraulic motor, so as to adjust the speed of traveling wheel pair.
Track fire fighting truck is as the main force that disaster, implementation rescue are disposed under the special operation conditions such as subway, tunnel, high ferro overpass
Fire fighting truck, it is desirable that the arrival disaster field as fast as possible in the case where ensureing vehicle safety, therefore rail running speed
It is the key parameter of such vehicle, the performance of hydraulic pump is driven to be entirely capable of the travel speed for meeting vehicle 50km/h at present, still
The friction coefficient of steel wheel and rail is small, without anti-lock braking system etc. due to, if in vehicle full-loading condition travel
Speed is excessive, and braking distance will be unable to the requirement for meeting national standard, also brings along security risk, therefore the speed of existing vehicle
It is limited to 30km/h.
Since the operating mode for disposing different disasters is different, when track fire fighting truck is fully loaded with and is unloaded, carrying different equipment when weight
It can have a greater change, and speed speed limit is only according to the braking distance under full-loading condition, thus the row of vehicle cannot be played completely
Sail performance.
Invention content
The purpose of the embodiment of the present invention is to provide a kind of varying load method for limiting speed, system and track fire fighting truck, solves existing
There is the problem of driving performance that track fire fighting truck cannot be given full play in technology, realizing can obtain most under different loads
Big travel speed under the premise of safe stopping distance is ensured, improves the rapidity of vehicle.
To achieve these goals, the embodiment of the present invention provides a kind of varying load speed limiting system, the system comprises：Load
Detection device, for detecting the load information of track fire fighting truck carrying；Speed detector, for detecting the track fire fighting truck
Travel speed；And central control module, for according to acquired load information, determine the track fire fighting truck with it is pre-
If the corresponding travel speed limit value of safe stopping distance, and be more than the travel speed in the travel speed of the track fire fighting truck
During limit value, speed limit operation is performed.
Optionally, the load detecting device is two weighing sensors, before being separately positioned on the track fire fighting truck,
Trailing wheel is to upper.
Optionally, the load detecting device is liquid level sensor, is arranged in the water pot of the track fire fighting truck, is used for
The water level in the water pot is detected, the central control module is additionally operable to according to the water level, determine the water quality in the water pot
Amount, according to preset ratio, the water quality is distributed to the front-wheel to load and trailing wheel to load, the preset ratio is institute
State the position of centre of gravity of the water pot ratio of distances constant with the front and rear wheel pair of the track fire fighting truck respectively.
Correspondingly, the embodiment of the present invention also provides a kind of varying load method for limiting speed, the method includes：Obtain track fire-fighting
The load information of vehicle carrying and the travel speed of the track fire fighting truck；And according to acquired load information, determine institute
The travel speed limit value corresponding with default safe stopping distance of track fire fighting truck is stated, and in the traveling of the track fire fighting truck
When speed is more than the travel speed limit value, speed limit operation is performed.
Optionally, when the trailing wheel of the track fire fighting truck is to for braked wheel, the load information acquired in the basis, really
The travel speed limit value corresponding with default safe stopping distance of the fixed track fire fighting truck includes：According toDetermine travel speed corresponding with the default safe stopping distance limit of the track fire fighting truck
Definite value, wherein, s be the default safe stopping distance, v0For the travel speed limit value, m1It is front-wheel to load, m2It is rear
It takes turns to load,For the steel wheel coefficient of sliding friction, k is restraint coefficient.
Optionally, when the front and rear wheel of the track fire fighting truck is to being braked wheel, the load letter acquired in the basis
Breath, determines that the travel speed limit value corresponding with default safe stopping distance of the track fire fighting truck includes：According toDetermine the travel speed corresponding with default safe stopping distance of the track fire fighting truck
Limit value, wherein, s be the default safe stopping distance, v0For the travel speed limit value, m1It is front-wheel to load, m2For
Trailing wheel to load,For the steel wheel coefficient of sliding friction, k is restraint coefficient.
Optionally, when the water level in water pot of the acquired load information for the track fire fighting truck, the method is also
Including：According to the water level, the water quality in the water pot is determined；According to preset ratio, the water quality is distributed to described
Front-wheel to load and trailing wheel to load, the preset ratio for the water pot position of centre of gravity respectively with the track fire fighting truck
The ratio of distances constant of front and rear wheel pair.
Correspondingly, the embodiment of the present invention also provides a kind of track fire fighting truck, including the varying load speed limiting system.
Through the above technical solutions, obtain the load information of track fire fighting truck carrying and the traveling of the track fire fighting truck
Speed according to acquired load information, determines the traveling speed corresponding with default safe stopping distance of the track fire fighting truck
Limit value is spent, and when the travel speed of the track fire fighting truck is more than the travel speed limit value, perform speed limit operation.This hair
Bright embodiment solves the problems, such as the driving performance that cannot give full play to track fire fighting truck in the prior art, realizes in different loads
Maximum travel speed can be obtained under lotus, under the premise of safe stopping distance is ensured, improves the rapidity of vehicle.
The other feature and advantage of the embodiment of the present invention will be described in detail in subsequent specific embodiment part.
Description of the drawings
Attached drawing is that the embodiment of the present invention is further understood for providing, and a part for constitution instruction, under
The specific embodiment in face is used to explain the embodiment of the present invention, but do not form the limitation to the embodiment of the present invention together.Attached
In figure：
Fig. 1 is a kind of structure diagram of varying load speed limiting system provided in an embodiment of the present invention；
Fig. 2 is weighing sensor provided in an embodiment of the present invention in signal of the front and rear wheel to upper setting of track fire fighting truck
Figure；
Fig. 3 is position of centre of gravity and the front and rear wheel pair of water pot provided in an embodiment of the present invention apart from schematic diagram；
Fig. 4 is a kind of flow chart of varying load method for limiting speed provided in an embodiment of the present invention；
Fig. 5 is ground brake force and the relational graph of time in vehicle braking process provided in an embodiment of the present invention.
Reference sign
1 front-wheel is to 2 first weighing sensors
3 trailing wheels are to 4 second weighing sensors
Specific embodiment
The specific embodiment of the embodiment of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this
Locate described specific embodiment and be merely to illustrate and explain the present invention embodiment, be not intended to restrict the invention embodiment.
Fig. 1 is a kind of structure diagram of varying load speed limiting system provided in an embodiment of the present invention.The embodiment of the present invention carries
A kind of varying load speed limiting system supplied, under different loads, can meet vehicle safe braking distance and improve to greatest extent
The travel speed of vehicle, as shown in Figure 1, the system 10 includes：Load detecting device 11, for detecting the carrying of track fire fighting truck
Load information；Speed detector 12, for detecting the travel speed of the track fire fighting truck；And central control module
13, for according to acquired load information, determining the traveling corresponding with default safe stopping distance of the track fire fighting truck
Speed limit, and when the travel speed of the track fire fighting truck is more than the travel speed limit value, perform speed limit operation.
Wherein, central control module is according to acquired load information, determining the track fire fighting truck with default safety
The corresponding travel speed limit value of braking distance, and be more than the travel speed limit value in the travel speed of the track fire fighting truck
When, speed limit operation is performed, such as the discharge capacity of variable capacity oil pump is controlled by electric signal or controls the rotating speed of transmitter, so as to control
The rotating speed of hydraulic motor so that the travel speed of vehicle matches with load.
In embodiments, the load detecting device is two weighing sensors, is separately positioned on the track fire-fighting
The front and rear wheel of vehicle is to upper.As shown in Fig. 2, track fire fighting truck front-wheel to 1 and trailing wheel to 3 on, set first to weigh biography respectively
2 and second weighing sensor 4 of sensor.When track fire fighting truck normally travel is in orbit, pass through the first weighing sensor 2 and
Two weighing sensors 4 detect load information of the front and rear wheel to carrying of the track fire fighting truck.
In another embodiment, for fractional orbital fire fighting truck, the Main change of load comes from water pot
Water variation, when equipment in the storage compartment of track fire fighting truck and drive occupancy weight change in full payload accounting compared with
Hour, it can ignore, and only consider water and change.Therefore, the load detecting device can be liquid level sensor, be arranged on institute
In the water pot for stating track fire fighting truck, for detecting the water level in the water pot, and the central control module is according to the water level,
It determines the water quality in the water pot, according to preset ratio, the water quality is distributed to the front-wheel to load and trailing wheel pair
Load, the preset ratio for the water pot position of centre of gravity respectively with the distance of the front and rear wheel pair of the track fire fighting truck it
Than.For example, shown in Fig. 3, the position of centre of gravity of the water pot and the distance of front-wheel pair are L1, the position of centre of gravity and trailing wheel of the water pot
To distance for L2, then the preset ratio is L1/L2, and according at a distance of the distance of position of centre of gravity and the inverse relation of load,
It is bigger apart from nearlyer the carried load of position of centre of gravity, it is smaller apart from more remote the carried load of position of centre of gravity, as shown in figure 3,
L1 is more than L2, then the water quality is distributed to trailing wheel is more than distribution to front-wheel to load to load.
By above-mentioned varying load speed limiting system, can according to acquired load information, determine track fire fighting truck with it is pre-
If the corresponding travel speed limit value of safe stopping distance, and limited in the travel speed of track fire fighting truck more than the travel speed
During value, speed limit operation is performed, under the premise of safe stopping distance is ensured, different loads can obtain maximum traveling speed
Degree improves the rapidity of vehicle.
Correspondingly, Fig. 4 is a kind of flow chart of varying load method for limiting speed provided in an embodiment of the present invention.As shown in figure 4, institute
The method of stating includes the following steps：
401st, the load information of track fire fighting truck carrying and the travel speed of the track fire fighting truck are obtained；
402nd, according to acquired load information, the corresponding with default safe stopping distance of the track fire fighting truck is determined
Travel speed limit value, and when the travel speed of the track fire fighting truck is more than the travel speed limit value, perform speed limit behaviour
Make.
Wherein, it as shown in figure 5, from the point of view of the braking overall process of vehicle, catches the signal including driver and makes action reaction
(a-b sections), brake works (b-c sections), continuous braking (c-d sections) and loosens brake (not shown) four-stage.One
As signified braking distance be to start to step on the distance that brake pedal stops completely to vehicle, it works (b-c including brake
Section) and the distance that travels of two stage vehicles of continuous braking (c-d sections), it is set to S here1And S2。
When braking from the point of view of vehicle stressing conditions, ground brake force F is equal to brake braking force during wheel rolling, and at any time
Between directly proportional growth, but ground brake force is the about counter-force of sliding friction, its value is no more than adhesive force Fp, for changing
It, in the stage that the suffered brake force of vehicle works in brake, is determined by brake, increased at any time, work as brake
Power rises to adhesive force Fp, and after wheel lock up, wheel will be slided in ground Orly, do sliding friction campaign, brake force F suffered by vehicle
Traction Fp is equal to, vehicle enters the continuous braking stage.
By taking track fire fighting truck as an example, when the front-wheel of the track fire fighting truck is to for supporting guide wheel, trailing wheel is to for driving wheel
During with braked wheel, it is assumed that front-wheel is m to load1, trailing wheel is m to load2, then vehicular gross combined weight is m1+m2, starting braking traveling
Speed is v0, b-c times are t1, c-d times are t2, maximum deceleration amax.It can be obtained according to kinematics formula：
Obtaining braking total distance according to formula (1) (2) is：
For formula (3), due to t1Numerical value is smaller, therefore omitsAnd travel speed unit is set as km/h, then
Formula (3) is converted to formula (4)：
According to stress balance principle during object of which movement, since steel wheel coefficient of rolling friction is 0.001 to 0.0015, therefore ignore
For front-wheel to rolling frictional resistance, car speed is not high, therefore ignores windage, only considers trailing wheel to sliding-frictional resistance after locking,
The middle steel wheel coefficient of sliding friction isIt can then obtain：
Brake braking force is only determined by brake structural parameter, i.e., depending on the form of brake, structure size, system
Friction factor and radius of wheel of dynamic friction pair etc., are the direct ratio function of time t, therefore set a restraint coefficient k, then according to F
=kt=ma, by t1With amaxIt substitutes into, can obtain：
kt1=(m1+m2)amaxFormula (6)
Formula (5) (6) is substituted into formula (4), it can be deduced that S, m1、m2And v0Relational expression：
Wherein, s be the default safe stopping distance, v0For the travel speed limit value, m1It is front-wheel to load, m2
It is trailing wheel to load,For the steel wheel coefficient of sliding friction, k is restraint coefficient, and above-mentioned formula (7) is for the track fire fighting truck
Trailing wheel to for braked wheel when, preset the correspondence formula of safe stopping distance and travel speed limit value.When the track disappears
When the front and rear wheel of anti-vehicle is to being braked wheel, then formula (7) can transform to formula (8)：
The meaning of wherein each parameter is identical with formula (7).
The traveling corresponding with default safe stopping distance of the track fire fighting truck is determined according to above-mentioned formula (7) or (8)
Speed limit.
Wherein, for the parameter area in above-mentioned formula (7) and (8),Value range is between 0.1-0.3, k value models
It is trapped among between 5000 to 7000, v0It is limited between 0-50, s is limited between 20 to 70.
In practical applications, driver can according to field condition, on indoor display screen is driven setting safety arrestment away from
From the safe stopping distance of setting being substituted into formula (7) or (8), while obtain m1And m2Numerical value, then obtain v0, work as inspection
The travel speed measured is more than v0When, then perform speed limit operation.
In one embodiment of the invention, it weighs except through being arranged on the front and rear wheel of track fire fighting truck to upper
Sensor is obtained except the load information of track fire fighting truck carrying, for fractional orbital fire fighting truck, load it is main
Variation comes from the water variation in water pot, when the weight change of equipment in the storage compartment of track fire fighting truck and driving occupancy
It when accounting is smaller in full payload, can ignore, and only consider water and change.Therefore, when acquired load information is described
During water level in the water pot of track fire fighting truck, according to the water level, the water quality in the water pot is determined；According to preset ratio,
The water quality is distributed to the front-wheel to load and trailing wheel to load, the preset ratio is the position of centre of gravity of the water pot
Respectively with the ratio of distances constant of the front and rear wheel pair of the track fire fighting truck.According at a distance of the distance of position of centre of gravity and the inverse ratio of load
Relationship, it is bigger apart from nearlyer the carried load of position of centre of gravity, it is smaller apart from more remote the carried load of position of centre of gravity, it is assumed that institute
The distance for stating the position of centre of gravity of water pot and front-wheel pair is L1, and the position of centre of gravity of the water pot and the distance of trailing wheel pair are L2, water quality
It measures as M, then the water quality is distributed to front-wheel is to loadThe water quality is distributed to trailing wheel
By above-described embodiment, under the premise of safe stopping distance is ensured, different loads can obtain maximum row
Speed is sailed, improves the rapidity of vehicle, in addition, by formula (7) or (8), driver can be according to live actual conditions certainly
Row setting safe stopping distance or travel speed limit value, control vehicle automatic speed-limiting, without manual control, improve vehicle
Safety.
Correspondingly, the embodiment of the present invention also provides a kind of track fire fighting truck, including the varying load limit described in above-described embodiment
Speed system.
The optional embodiment of the embodiment of the present invention is described in detail above in association with attached drawing, still, the embodiment of the present invention is simultaneously
The detail being not limited in the above embodiment, can be to of the invention real in the range of the technology design of the embodiment of the present invention
The technical solution for applying example carries out a variety of simple variants, these simple variants belong to the protection domain of the embodiment of the present invention.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the embodiment of the present invention pair
Various combinations of possible ways no longer separately illustrate.
It will be appreciated by those skilled in the art that all or part of the steps of the method in the foregoing embodiments are can to pass through
Program is completed to instruct relevant hardware, which is stored in a storage medium, is used including some instructions so that single
Piece machine, chip or processor (processor) perform all or part of step of each embodiment the method for the application.It is and preceding
The storage medium stated includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic disc or CD.
In addition, arbitrary combination can also be carried out between a variety of different embodiments of the embodiment of the present invention, as long as it is not
The thought of the embodiment of the present invention is violated, should equally be considered as disclosure of that of the embodiment of the present invention.
Claims (8)
1. a kind of varying load speed limiting system, which is characterized in that the system comprises：
Load detecting device, for detecting the load information of track fire fighting truck carrying；
Speed detector, for detecting the travel speed of the track fire fighting truck；And
Central control module, for according to acquired load information, determining the track fire fighting truck with default safety arrestment
Apart from corresponding travel speed limit value, and when the travel speed of the track fire fighting truck is more than the travel speed limit value,
Perform speed limit operation.
2. varying load speed limiting system according to claim 1, which is characterized in that the load detecting device is weighed for two
Sensor is separately positioned on the front and rear wheel of the track fire fighting truck to upper.
3. varying load speed limiting system according to claim 1, which is characterized in that the load detecting device is level sensing
Device is arranged in the water pot of the track fire fighting truck, for detecting the water level in the water pot,
The central control module is additionally operable to according to the water level, determine the water quality in the water pot, will according to preset ratio
The water quality is distributed to the front-wheel to load and trailing wheel to load, position of centre of gravity point of the preset ratio for the water pot
Not with the ratio of distances constant of the front and rear wheel pair of the track fire fighting truck.
4. a kind of varying load method for limiting speed, which is characterized in that the method includes：
Obtain the load information of track fire fighting truck carrying and the travel speed of the track fire fighting truck；And
According to acquired load information, the travel speed corresponding with default safe stopping distance of the track fire fighting truck is determined
Limit value, and when the travel speed of the track fire fighting truck is more than the travel speed limit value, perform speed limit operation.
5. varying load method for limiting speed according to claim 4, which is characterized in that when the track fire fighting truck trailing wheel to for
During braked wheel, the load information acquired in the basis determines the corresponding with default safe stopping distance of the track fire fighting truck
Travel speed limit value include：
According toDetermine the row corresponding with default safe stopping distance of the track fire fighting truck
Sail speed limit, wherein, s be the default safe stopping distance, v0For the travel speed limit value, m1Be front-wheel to carry
Lotus, m2It is trailing wheel to load,For the steel wheel coefficient of sliding friction, k is restraint coefficient.
6. varying load method for limiting speed according to claim 4, which is characterized in that when the front and rear wheel of the track fire fighting truck
During to being braked wheel, the load information acquired in the basis, determine the track fire fighting truck with default safety arrestment away from
Include from corresponding travel speed limit value：
According toDetermine the corresponding with default safe stopping distance of the track fire fighting truck
Travel speed limit value, wherein, s be the default safe stopping distance, v0For the travel speed limit value, m1For front-wheel pair
Load, m2It is trailing wheel to load,For the steel wheel coefficient of sliding friction, k is restraint coefficient.
7. varying load method for limiting speed according to claim 5 or 6, which is characterized in that when acquired load information is institute
When stating the water level in the water pot of track fire fighting truck, the method further includes：
According to the water level, the water quality in the water pot is determined；
According to preset ratio, the water quality is distributed to the front-wheel to load and trailing wheel to load, the preset ratio is
The position of centre of gravity of the water pot ratio of distances constant with the front and rear wheel pair of the track fire fighting truck respectively.
8. a kind of track fire fighting truck, which is characterized in that including according to claim 1-3 any one of them varying load speed limits system
System.
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| CN201711422649.2A CN108215795B (en) | 2017-12-25 | 2017-12-25 | Variable load speed limiting method and system and track fire truck |
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| CN201711422649.2A CN108215795B (en) | 2017-12-25 | 2017-12-25 | Variable load speed limiting method and system and track fire truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109624622A (en) * | 2018-12-10 | 2019-04-16 | 长沙中联消防机械有限公司 | Adaptive load control system, method and track fire fighting truck |
| CN112792139A (en) * | 2020-11-26 | 2021-05-14 | 广州城建职业学院 | Control method for preventing heavy-load fault of double-core-rod transmission motor |
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| CN204432407U (en) * | 2015-01-07 | 2015-07-01 | 陕西汽车集团有限责任公司 | Based on overload of vehicle intelligent speed-limiting system and this load transportation vehicle of weighing technology |
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| CN202329731U (en) * | 2011-09-14 | 2012-07-11 | 郭金龙 | Water volume counting system for fire truck |
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| CN109624622A (en) * | 2018-12-10 | 2019-04-16 | 长沙中联消防机械有限公司 | Adaptive load control system, method and track fire fighting truck |
| CN112792139A (en) * | 2020-11-26 | 2021-05-14 | 广州城建职业学院 | Control method for preventing heavy-load fault of double-core-rod transmission motor |
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| Publication number | Publication date |
|---|---|
| CN108215795B (en) | 2020-12-25 |
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