CN110077385A - A kind of vehicle brake control method - Google Patents
A kind of vehicle brake control method Download PDFInfo
- Publication number
- CN110077385A CN110077385A CN201810072430.2A CN201810072430A CN110077385A CN 110077385 A CN110077385 A CN 110077385A CN 201810072430 A CN201810072430 A CN 201810072430A CN 110077385 A CN110077385 A CN 110077385A
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- vehicle
- deceleration
- braking
- electric braking
- brake control
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Classifications
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- 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
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of vehicle brake control methods, when vehicle meets default braking condition, start vehicle electric braking, until exiting vehicle electric braking when vehicle reaches default zero-speed, being switched to air damping.Vehicle brake control method of the invention has many advantages, such as to control simplicity, fast response time, stopping accuracy height and energy conservation.
Description
Technical field
The invention mainly relates to technical field of rail traffic, refer in particular to a kind of vehicle brake control method.
Background technique
Subway train has many advantages, such as that passenger capacity is big, travel speed is fast, comfort is high, is the weight for solving urban transport problems
Want one of means.City rail vehicle needs to meet in docking process " accurate parking " to realize to mark at present, it is therefore desirable to make
Meet the requirement of permanent brake force during dynamic.Under normal circumstances, railcar has stronger electric braking ability, this braking side
Formula does not have mechanical loss, and brake force is big, high-efficient, therefore preferential use, and air damping is counter to be sent mainly through wheel tread and lock
Watt friction, converts kinetic energy into thermal energy, this process can bring the abrasion of brake shoe and tyre tread, therefore generally in electric braking force deficiency
In the case where, air damping is just come into operation.In practical engineering applications, complete in railcar in order to guarantee parking safety
After stopping, need when guaranteeing that vehicle is totally stationary, to slip without car slipping backward or forward by the air damping of braking system
Vehicle happens, and in entire braking process, most braking operation is undertaken using electric braking, can effectively be recycled
Braking energy achieves energy-saving and emission reduction purposes, meanwhile, electric braking process is smooth, controlled degree and consistency are good, and passenger feels
Comfortably.Based on the above reasons, in entire braking process, vehicle needs are gradually switched from electric braking to air damping.Mesh
Preceding city rail vehicle is routinely using empty electric hybrid mode parking.In this process, electric braking and control braking are needed according to certain item
Part carries out composite braking, gradually gas braking is switched to by electric braking, due to cannot respond to signal system during this composite braking
System is adjusted, and is easy to cause stopping accuracy poor；And in parking, deceleration still maintains a larger value, so that parking impact
Greatly, the problems such as influencing comfort of passenger, even passenger being be easy to cause to fall down when even more serious；Finally, air damping intervention is more early,
Cause the abrasion of brake shoe to increase, increases maintenance cost；And shutdown phase uses air damping, wastes this section electricity system
The raw feedback energy of movable property.
Summary of the invention
The technical problem to be solved in the present invention is that, for technical problem of the existing technology, the present invention provides one
Kind control simplicity, fast response time, the stable vehicle brake control method of vehicle parking.
In order to solve the above technical problems, technical solution proposed by the present invention are as follows:
A kind of vehicle brake control method starts vehicle electric braking when vehicle meets default braking condition, until vehicle
When reaching default zero-speed, vehicle electric braking is exited, air damping is switched to.
Preferably, the default zero-speed≤0.5km/h.
Preferably, it during electric braking, is obtained by the deviation between the actual deceleration degree and default deceleration of vehicle
To electric braking torque.
Preferably, the specific calculating process of the electric braking torque are as follows:
S11, the instantaneous deceleration a for acquiring vehicle, and by second order Kalman filtering function and low-pass filtering, it is averaged
Deceleration
S12, according to average retardation rateFitting generates default deceleration a1；
S13, basis preset deceleration a1Deviation e (t) between actual deceleration degree a (t) calculates electric braking torque Teb
(t)。
Preferably, electric braking torque T in the step S13eb(t) specific formula for calculation are as follows:
In formula: TactiveThe moment values that corresponding activation composite braking moment trailer system plays, guarantee the continuously smooth of torque
Property；TebFor output electrical system kinetic moment, kpFor proportionality coefficient, kiFor integral coefficient, kdFor differential coefficient, e (t) is the deceleration of t moment
Deviation is spent, e (t-1) is the deceleration deviation at t-1 moment.
Preferably, in step s 12, deceleration a is preset1Fitting formula are as follows:
WhereinIt is total braking time, t for average retardation rate, Δ TaIt is taken time by braking.
Preferably, the default braking condition includes the following conditions: trailer system fault-free, speed signal be without exception, nothing
Speed sensor fault, the identical property of drag torque response are good, medium voltage is in zone of reasonableness, trailer system is in can work
Make state and traction braking operating condition；After all conditions satisfaction, restart electric braking.
Compared with the prior art, the advantages of the present invention are as follows:
Vehicle brake control method of the invention, realizes electric braking to zero-speed since braking, and no air damping applies；By
In using electric braking, fast response time, it can be ensured that the precision of parking；Air damping is carried out again in zero-speed backed off after random electric braking,
It realizes and switches without impact, ensure that the stationarity of vehicle parking.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is instantaneous deceleration calculation curve graph of the invention.
Fig. 3 is default deceleration matched curve figure of the invention.
Specific embodiment
Below in conjunction with Figure of description and specific embodiment, the invention will be further described.
As shown in Figure 1, the vehicle brake control method of the present embodiment, process are as follows: when vehicle meets default braking condition,
Start vehicle electric braking, until exiting vehicle electric braking when vehicle reaches default zero-speed, being switched to air damping.Of the invention
Vehicle brake control method, realizes electric braking to zero-speed since braking, and no air damping applies；Due to using electric braking, ring
Answer speed fast, it can be ensured that the precision of parking；Air damping is carried out again in zero-speed backed off after random electric braking, is realized no impact and is cut
It changes, ensure that the stationarity of vehicle parking.
In the present embodiment, zero-speed≤0.5km/h is preset.
In the present embodiment, during electric braking, pass through the deviation between the actual deceleration degree and default deceleration of vehicle
Value obtains electric braking torque, by the control of electric braking torque, realizes the smooth consecutive variations of deceleration, and meets deceleration variation
Rate gradually becomes smaller, and it is smoothly comfortable can to meet deceleration process in this way.The wherein specific calculating process of electric braking torque are as follows:
S11, the instantaneous deceleration a for acquiring vehicle, and by second order Kalman filtering function and low-pass filtering, it is averaged
Deceleration
S12, according to average retardation rateFitting generates default deceleration a1；
S13, basis preset deceleration a1Deviation e (t) between actual deceleration degree a (t) calculates electric braking torque Teb
(t)。
Preferably, electric braking torque T in step S13eb(t) specific formula for calculation are as follows:
In formula: TactiveThe moment values that corresponding activation composite braking moment trailer system plays, guarantee the continuously smooth of torque
Property；TebFor output electrical system kinetic moment, kpFor proportionality coefficient, kiFor integral coefficient, kdFor differential coefficient, e (t) is the deceleration of t moment
Deviation is spent, e (t-1) is the deceleration deviation at t-1 moment.
In the present embodiment, in step s 12, deceleration a is preset1Fitting formula are as follows:
Wherein a is average retardation rate, Δ T is total braking time, taIt is taken time by braking.
In the present embodiment, default braking condition includes the following conditions: trailer system fault-free, speed signal be without exception, nothing
Speed sensor fault, the identical property of drag torque response are good, medium voltage is in zone of reasonableness, trailer system is in can work
Make state and traction braking operating condition；After all conditions satisfaction, restart electric braking.
Vehicle brake control method of the invention makes full use of city rail vehicle by the research to motor control under low speed
The electric braking ability of motor controls electric braking application and is continued until zero-speed in shutdown phase by deceleration-based controller, it is ensured that
In entire moderating process, no air damping applies, meanwhile, because electric braking is continuously applied, and electric braking possesses fastly when close to zero-speed
The characteristic of speed response, therefore the precision that can ensure to stop.In parking, pass through the electric braking and air close to zero-speed
Braking switching, realizes and switches without impact, ensure that comfort of passenger；And it is adjusted in real time by the inside of trailer system control unit
Section, no matter ensure that on ramp or straight road, can secure parking, phenomena such as not generating car slipping puts down to realize
Steady parking.It also can be avoided the brake shoe wheel that reclines for a long time simultaneously to wear to brake force is applied, while also can be avoided air system
The loss of feedback energy when dynamic.
City rail vehicle brake control method of the invention is described further below with reference to a specific embodiment:
1, activation of the electric braking to zero
Trailer system need to meet following full terms and just activate electric braking control model by the monitoring of system mode；Such as
Really bar part is unsatisfactory for, then enters the empty composite braking process of electricity, and electricity sky composite braking process belongs to conventional control mode, herein no longer
It repeats.
(1) trailer system is without catastrophe failure；
(2) speed signal is without exception, Speedless sensor failure；
(3) the identical property of drag torque response is good, including response accuracy and response time etc.；
(4) medium voltage is in UAWith UBBetween.(UA, UBIt is arranged according to different voltages grade, is being closed for confinement voltage
Manage range)；
(5) high-speed circuit breaker, short circuit contactor are in closed state, and characterization traction is in can working condition；
(6) traction braking operating condition.
2, the calculating of deceleration and average retardation rate
For electric braking to zero, need to ensure electric braking to during zero, the flatness of electric braking force.
As shown in Fig. 2, first trailer system for acquisition train speed signal V, according to speed difference Δ V (V1-V2) and when
Between Δ t (t1-t2) to calculate instantaneous deceleration a=Δ V/ Δ t；
Average retardation rate is obtained using second order Kalman filtering function and low-pass filtering by instantaneous deceleration a(wherein
Kalman filtering thought is mainly with the optimal estimation X at K-1 momentk-1Subject to, predict the state variable at K moment
The state is observed again simultaneously, obtains observational variable Zk, then analyze between prediction and observation, or perhaps to see
Measurement is modified premeasuring, to obtain the optimal State Estimation X at K momentk)。
3, projectile deceleration history is fitted
Set projectile deceleration history fitting formula:
As shown in figure 3, realizing the smooth consecutive variations of deceleration, and meet deceleration change rate gradually by curve matching
Become smaller, it is smoothly comfortable that deceleration process can be met in this way.
4, electric braking is latched to zero initial signal
It completes key signal according to electric braking to zero activation signal to latch, key signal are as follows: average retardation rate, speed and power
Square given value.
5, electric braking Calculating Torque during Rotary
By setting deceleration a1Deceleration deviation e (t) is obtained with the actual deceleration degree a (t) of t moment,
E (t)=a1-a(t)
Electric braking torque is calculated according to deceleration deviation e (t)
In formula: TactiveThe moment values that corresponding activation composite braking moment trailer system plays, guarantee the continuously smooth of torque
Property；TebFor output electrical system kinetic moment, kpFor proportionality coefficient, kiFor integral coefficient, kdFor differential coefficient, e (t) is the deceleration of t moment
Deviation is spent, e (t-1) is the deceleration deviation at t-1 moment.
Electric braking torque is adjusted by real-time deceleration, speed controllability is realized, meets the operation of complex working condition；By subtracting
Speed calculates, and down speeding procedure is continuous, moderating process is smooth, and vehicle parking is steady.
6, vehicle zero-speed judges
If speed is less than 0.5km/h, it is judged as vehicle zero-speed.
7, electric braking terminates to null mode
After vehicle zero-speed, trailer system activates composite braking to zero the mode of secession, and judges feedback marks and exit time,
The decline of torque slope is completed, control system impact is in impact slope allowed band.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (7)
1. a kind of vehicle brake control method, which is characterized in that when vehicle meets default braking condition, start vehicle electrical system
It is dynamic, until exiting vehicle electric braking when vehicle reaches default zero-speed, being switched to air damping.
2. vehicle brake control method according to claim 1, which is characterized in that the default zero-speed≤0.5km/h.
3. vehicle brake control method according to claim 1 or 2, which is characterized in that during electric braking, pass through vehicle
Actual deceleration degree and default deceleration between deviation obtain electric braking torque.
4. vehicle brake control method according to claim 3, which is characterized in that the specific calculating of the electric braking torque
Process are as follows:
S11, the instantaneous deceleration a for acquiring vehicle, and by second order Kalman filtering function and low-pass filtering, obtain mean deceleration
Degree
S12, according to average retardation rateFitting generates default deceleration a1；
S13, basis preset deceleration a1Deviation e (t) between actual deceleration degree a (t) calculates electric braking torque Teb(t)。
5. vehicle brake control method according to claim 4, which is characterized in that electric braking torque in the step S13
Teb(t) specific formula for calculation are as follows:
In formula: TactiveThe moment values that corresponding activation composite braking moment trailer system plays, guarantee the continuously smooth of torque；
TebFor output electrical system kinetic moment, kpFor proportionality coefficient, kiFor integral coefficient, kdFor differential coefficient, e (t) is the deceleration of t moment
Deviation, e (t-1) are the deceleration deviation at t-1 moment.
6. vehicle brake control method according to claim 4, which is characterized in that in step s 12, preset deceleration a1
Fitting formula are as follows:
WhereinIt is total braking time, t for average retardation rate, Δ TaIt is taken time by braking.
7. vehicle brake control method according to claim 1 or 2, which is characterized in that the default braking condition includes
The following conditions: it is good that trailer system fault-free, speed signal be without exception, Speedless sensor failure, drag torque respond property of coincideing
Good, medium voltage is in zone of reasonableness, trailer system is in can working condition and traction braking operating condition；Meet in all conditions
Afterwards, restart electric braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810072430.2A CN110077385B (en) | 2018-01-25 | 2018-01-25 | Vehicle brake control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810072430.2A CN110077385B (en) | 2018-01-25 | 2018-01-25 | Vehicle brake control method |
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| CN110077385A true CN110077385A (en) | 2019-08-02 |
| CN110077385B CN110077385B (en) | 2021-09-24 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216559A (en) * | 2020-01-22 | 2020-06-02 | 湘潭大学 | Electric vehicle multi-sensor cooperative braking energy recovery system and recovery method |
| CN111824093A (en) * | 2020-07-30 | 2020-10-27 | 中车株洲电力机车有限公司 | Rail transit vehicle parking control method and system |
| CN112124364A (en) * | 2020-09-10 | 2020-12-25 | 交控科技股份有限公司 | Control method for accurate train stop, ATO, VOBC and train |
| CN112440954A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440958A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440953A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440955A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440957A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440956A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112590748A (en) * | 2021-01-05 | 2021-04-02 | 中车株洲电力机车有限公司 | Subway vehicle air brake supplementing method and device |
| CN112721893A (en) * | 2021-01-14 | 2021-04-30 | 中车青岛四方机车车辆股份有限公司 | Electric-air-matched parking control method and system, storage medium, equipment and vehicle |
| CN113120033A (en) * | 2019-12-31 | 2021-07-16 | 比亚迪股份有限公司 | Train parking control method and vehicle-mounted controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112440956A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440958A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440957B (en) * | 2019-08-30 | 2022-07-15 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
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| CN112440955A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
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| CN112440958B (en) * | 2019-08-30 | 2022-01-07 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN112440957A (en) * | 2019-08-30 | 2021-03-05 | 比亚迪股份有限公司 | Vehicle and braking method and device thereof |
| CN113120033A (en) * | 2019-12-31 | 2021-07-16 | 比亚迪股份有限公司 | Train parking control method and vehicle-mounted controller |
| CN111216559B (en) * | 2020-01-22 | 2021-03-26 | 湘潭大学 | Electric vehicle multi-sensor cooperative braking energy recovery system and recovery method |
| CN111216559A (en) * | 2020-01-22 | 2020-06-02 | 湘潭大学 | Electric vehicle multi-sensor cooperative braking energy recovery system and recovery method |
| CN111824093A (en) * | 2020-07-30 | 2020-10-27 | 中车株洲电力机车有限公司 | Rail transit vehicle parking control method and system |
| CN112124364A (en) * | 2020-09-10 | 2020-12-25 | 交控科技股份有限公司 | Control method for accurate train stop, ATO, VOBC and train |
| CN112590748A (en) * | 2021-01-05 | 2021-04-02 | 中车株洲电力机车有限公司 | Subway vehicle air brake supplementing method and device |
| CN112721893A (en) * | 2021-01-14 | 2021-04-30 | 中车青岛四方机车车辆股份有限公司 | Electric-air-matched parking control method and system, storage medium, equipment and vehicle |
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