CN110920543A - Network control system and highway-railway dual-purpose electric engineering vehicle - Google Patents

Network control system and highway-railway dual-purpose electric engineering vehicle Download PDF

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Publication number
CN110920543A
CN110920543A CN201911191723.3A CN201911191723A CN110920543A CN 110920543 A CN110920543 A CN 110920543A CN 201911191723 A CN201911191723 A CN 201911191723A CN 110920543 A CN110920543 A CN 110920543A
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control module
battery
module
mode
information
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CN110920543B (en
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李超
孙滕
梁继云
王崇恩
李晓郁
郝媛
孙舒婷
李明泽
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Qingdao CRRC Sifang Rolling Stock Co Ltd
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CRRC Sifang Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F1/00—Vehicles for use both on rail and on road; Conversions therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a network control system and a highway and railway engineering vehicle, wherein the network control system comprises: an input-output module; the system parameter module stores preset parameter information of the engineering vehicle; the logic control module receives the acquired external operation and preset parameter information; the mode selection module is used for controlling and switching the mode of the engineering truck according to the output of the logic control module; the intelligent control module receives the relevant processing information of the corresponding mode; the network communication module is communicated with the intelligent control module, the logic control module, the battery management unit and the traction control unit; the intelligent control module receives external operation, preset parameter information, information fed back by the traction control unit and battery information fed back by the battery management unit through the communication of the logic control module, and controls the operation of the traction control unit; the external operations include at least the operation of the pedal by the driver and the mode switching operation. The invention is used for realizing intelligent operation control of the highway and railway dual-purpose electric engineering vehicle.

Description

Network control system and highway-railway dual-purpose electric engineering vehicle
Technical Field
The invention relates to the technical field of electric engineering vehicles, in particular to a network control system and a highway and railway dual-purpose electric engineering vehicle.
Background
The highway and railway dual-purpose electric engineering vehicle (such as a tractor, a (such as a fire-fighting) equipment transport vehicle and the like) has the advantages of safety, environmental protection, accurate control, low maintenance cost, low noise, quick response time and the like, and is widely applied to closed or semi-closed rail traffic environments of subways, vehicle section plants and the like.
At present, diesel engines are mostly adopted to drive in the field of highway and railway dual-purpose engineering vehicles at home and abroad, and the intrinsic defects in the aspects of transmission, emission and the like exist. And many current machineshop cars adopt current truck chassis and loading railway running gear realizes the highway-railway dual-purpose, and the driving system under this mode adopts chassis system of oneself, and the railway part is simply controlled through relay switch, and control effect is poor, and also has the defect in the aspect of emission etc.. In addition, a few pure electric engineering vehicles on the market mostly adopt a gear control mode, have utmost regulation and control, and the controllability is poor, influences user experience.
Disclosure of Invention
One of the objectives of the present invention is to provide a network control system, which is used for implementing intelligent operation control of a highway and railway electric engineering vehicle.
In order to realize the purpose of the invention, the invention is realized by adopting the following technical scheme:
a network control system for a highway and railway electric engineering vehicle is characterized by comprising: an input-output module that collects external operations in real time; the system parameter module stores preset parameter information of the engineering vehicle; the logic control module receives the acquired external operation and preset parameter information; the mode selection module is used for controlling and switching the mode of the engineering truck according to the output of the logic control module; the intelligent control module receives the relevant processing information of the corresponding mode; the network communication module is communicated with the intelligent control module, the logic control module, the battery management unit and the traction control unit of the engineering truck; the intelligent control module receives external operation, preset parameter information, information fed back by the traction control unit and battery information fed back by the battery management unit through the logic control module in a communication mode, and controls the operation of the traction control unit; wherein the modes include a road mode, a railway mode, and a highway-railway mode, and the external operation includes at least a driver's operation of a pedal and a mode switching operation.
The network control system as described above, wherein the input output module receives pedal operation and converts it into stroke percentage and inputs the stroke percentage to the logic control module; the logic control module sends the received stroke percentage, the information fed back by the traction control unit and the battery information fed back by the battery management unit to the intelligent control module, and the intelligent control module controls the output torque of the traction control unit.
According to the network control system, the battery management unit sends the relevant information of the battery to the logic control module through the network communication module, the logic control module sends the received relevant information of the battery and the battery information in the preset parameter information to the intelligent control module, and the intelligent control module calculates the residual electric quantity of the battery.
In the network control system, the intelligent control module records the charge and discharge electric quantity of the battery during deep discharge or charge, and corrects the battery information in the preset parameter information.
In the network control system, the intelligent control module controls the electric quantity distribution of each electric part according to the residual electric quantity of the battery.
The network control system further comprises a human-computer interaction interface which is in two-way communication with the network communication module and is used for displaying the battery residual capacity output by the intelligent control module.
In the network control system, the intelligent control module obtains the real-time power of each power utilization part, and controls to reduce the power utilization power of the corresponding system when the real-time power exceeds a preset peak value for a certain time.
According to the network control system, the intelligent control module receives the state information of the engineering truck in real time and monitors the running condition of the engineering truck.
The network control system as described above, the modes further comprising a charging mode, and the network control system further comprising a charging control module in communication with the intelligent control module; the network communication module is in communication connection with a charger for charging the battery of the engineering truck; the intelligent control module monitors the electric quantity of the battery, controls the charger to charge the battery when the electric quantity of the battery is reduced to a preset value, and enters a low power consumption state when the battery is fully charged.
The invention also relates to a highway and railway dual-purpose electric engineering truck which comprises the network control system.
Compared with the prior art, the invention has the advantages and positive effects that: the network control system formed by the input/output module, the system parameter module, the logic control module, the mode selection module, the intelligent control module and the network communication module can intelligently control the operation of the traction control unit according to the input external operation, preset parameter information, information fed back by the traction control unit in real time and battery information fed back by the battery management unit, so that a highway dual-purpose mode is realized, the external operation at least comprises pedal operation, the operation of a driver on the pedal is directly reflected to vehicle acceleration, the output of a traction motor is steplessly adjusted, and the network control system is strong in controllability, flexible and comfortable to control.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a block diagram of a network control system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples.
Example one
In order to adapt to the characteristics of road-rail dual-purpose electric engineering vehicle direct-current transmission, road-railway mode conversion, small-range lane ascending accurate control and the like, the embodiment relates to a network control system, realizes stepless regulation and control, improves the control comfort and flexibility, and can realize railway equipment conversion control. As shown in fig. 1, the network control system of this embodiment includes a logic control module 1, a system parameter module 2, an input/output module (i.e., IO module) 3, a mode conversion module 4, a road mode processing module 5 corresponding to a road mode, a railway mode processing module 6 corresponding to a railway mode, a road-railway conversion mode processing module 7 corresponding to a road-railway conversion mode, a charging control module 8 corresponding to a charging mode, an intelligent control module 9, and a network communication module 10, wherein the network communication module 10 is in bidirectional communication with a battery management unit BMS 11, a traction control unit TCU 12, and a human-machine interface HMI 13, respectively. In this embodiment, the communication between the modules in the network control system is realized based on a CAN bus.
The input/output module 3 may include a plurality of input/output ports for collecting external operation input to the logic control unit 1, wherein the external operation at least includes the operation of a pedal by a driver, such as stepping on a traction pedal or a brake pedal; or the signals processed by the logic control unit 1 are output through the input and output module 3; or the signal processed by the intelligent control module 9 is input into the output module 3 through the output value of the logic control unit 1, for example, an audible and visual alarm signal. The system parameter module 2 is equivalent to a memory, and pre-stores preset parameter information of the engineering vehicle (for example, total battery capacity information and a low preset value after battery discharge), and pre-stored information related to the devices of the traction control unit 12 (for example, a preset peak value of power of each device, etc.), and these preset parameter information can be read by the logic control unit 1. The information fed back by the battery management unit 11 and the traction control unit 12 is sent to the logic control module 1 through the network communication module 10, and then is processed by the logic control module 1 and then directly output to the mode selection module 4 or directly output to the intelligent control module 9.
When a driver operates, for example, needs to switch to a road mode, a highway-railway switching mode or a railway mode, the input/output module 3 acquires the operation of the driver, for example, acquires a signal of a mode switch, inputs the signal of the mode switch to the logic control module 1, the logic control module 1 reads preset parameter information in the system parameter module 2 and acquires information fed back by the traction control unit 12 through the network communication module 10 to acquire the current state of the vehicle, the logic control module 1 also acquires battery information fed back by the battery management unit 11 through the network communication module 10, the logic control module 1 processes the information and outputs the processed information to the mode selection module 4, the vehicle is selected to enter a certain mode working condition, the corresponding processing module performs information processing according to different mode working conditions and sends the processed information to the intelligent control module 9, the intelligent control module 9 outputs a signal to operate a corresponding operating mechanism through the network communication module 10, for example, the traction control unit 2 may be controlled to perform operations corresponding to a highway mode (for example, a railway wheel is fixed in place, a signal lamp is switched to the highway mode), perform operations corresponding to a railway mode (for example, a railway wheel is lowered in place, a signal lamp is switched to the railway mode), or perform operations corresponding to a highway-railway switching mode (for example, a railway wheel is lifted), so as to implement mode switching. In the mode conversion operation process (simply called upper (rail) and lower (rail) of the rail-road vehicle), the vehicle can be driven to a special level crossing when the vehicle is driven to the upper road, a driver is required to switch a mode switch to a rail-road conversion mode, and at the moment, the railway wheel can be lifted and lowered but the speed can be limited.
In the driving process, when a driver operates, for example, a traction pedal or a brake pedal is stepped on, the input/output module 3 acquires the operation of the driver and converts an analog quantity caused by the change of the pedal stroke into a digital quantity, the stroke is converted into a stroke percentage through a certain algorithm and is transmitted to the logic control module 1, the logic control module 1 directly transmits the stroke percentage, information (such as real-time speed, traction motor feedback parameters and the like) fed back by the traction control unit 12 through the network communication module 10 and battery information (such as battery electric quantity) fed back by the battery management unit 11 to the intelligent control module 9, the intelligent control module 9 calculates ideal output torque according to the received information and the characteristic curve of the traction motor, and transmits the torque to the traction control unit 12 through the network communication module 10 so as to adjust the traction motor to output specified torque, the control of the traction motor is realized. The operation of the pedal is converted into the output torque of the traction motor, so that the operation of a driver on the traction pedal or the brake pedal can be directly reflected into the acceleration of the vehicle, the treading amplitude of the pedal is large, the output of the traction motor is large, the treading amplitude of the pedal is small, the output of the traction motor is small, the stepless regulation of the output of the traction motor is realized, the controllability is strong, the control is flexible, the control is comfortable, and the vehicle can quickly, accurately and flexibly respond to an operation instruction.
In this embodiment, in order to manage the battery of the vehicle, the remaining battery capacity needs to be accurately known, so as to optimize power consumption distribution. The battery management unit 11 sends the detected battery voltage, temperature, current and other parameters to the logic control module 1 through the network communication module 10, the logic control module 1 reads the total battery power information in the system parameter module 2, the logic control module 1 transmits the information to the intelligent control module 9, the intelligent control module 9 performs dynamic integral calculation according to the battery voltage, current and discharge time, performs temperature compensation, calculates the battery residual power, and ensures accurate power estimation. In this embodiment, the remaining battery capacity may be displayed on the human-computer interface 13 for the driver and the passenger to view and use for the power prompt. Meanwhile, during deep discharging and charging, the intelligent control module 9 records charging and discharging electric quantity through the network communication module 10, and corrects information about the battery in a preset parameter system stored in the system parameter module 2, such as total electric quantity information of the battery, so that the battery can still maintain relatively accurate electric quantity estimation capability after aging after long-time use, and reliable energy guarantee is provided for the vehicle.
After the intelligent control module 9 calculates the remaining battery capacity, the remaining mileage is estimated according to the vehicle running conditions (such as vehicle load conditions, vehicle running resistance, etc.) which are dynamically changed, and the electric quantity of each power utilization part in the remaining mileage is automatically distributed.
The intelligent control module 9 monitors and acquires the power of each power consumption part in real time during the driving process. Specifically, the intelligent control module 9 collects data such as current and voltage of each power utilization part in unit time through the logic control module 1 and the input/output module 3, performs temperature compensation, calculates real-time power of each part, and compares the real-time power with preset power, if the power of a certain part exceeds a preset peak value for a certain preset time, the intelligent control module 9 performs power consumption reduction processing on the power utilization part, dynamic power protection of power utilization parts (such as a traction motor and an oil pump motor) according to power consumption is realized, and heating and burning loss of the electric parts caused by overlarge current are prevented. In this embodiment, the part of the power consumption reduction processing can be prompted through the human-computer interaction interface 13, so that the driver and the passenger can conveniently check the part.
The intelligent control module 9 also receives the state information of the engineering vehicle in real time and monitors the running condition of the engineering vehicle. Specifically, when no driver operates externally, the logic control module 1 receives the pre-stored information of the system parameter module 2 and the information output by the input/output module 3 in real time, and the information fed back by the battery management unit 11 and the traction control unit 12 is sent to the logic control module 1 through the network communication module 10, and then the information is correspondingly logically processed by the logic control module 1 and then directly output to the intelligent control module 9 to obtain the current state of the vehicle, wherein the processes are executed in real time during the driving process, and then the intelligent control module 9 monitors the vehicle running condition, and transmits the processing result to the input/output module 3 or the network communication module 10 through the logic control module 1 for processing, such as vehicle self-checking, fault protection, automatic braking, and the like, or is displayed on the human-machine interface 13 through the network communication module 10, for example, if the intelligent control module 9 monitors that the current vehicle is overspeed, the condition is displayed through the human-computer interaction interface 13, and an audible and visual alarm for alarming and prompting when the vehicle is overspeed can be arranged at the input and output module 3; for example, the automatic braking is divided into three stages, namely, first-stage neutral sliding, second-stage electric braking and third-stage mechanical braking, after the vehicle is overspeed, traction force is automatically cut off within a certain speed and time, the neutral sliding is performed, if the speed cannot be reduced after a period of time, the electric braking is automatically started, the speed is reduced in a regenerative braking mode, the two-stage braking can be realized by the traction control unit 12 through the network communication module 10, after the first-stage braking and the second-stage braking, the vehicle speed is still not reduced or the maximum braking capability of the regenerative braking is reached, at the moment, the third-stage mechanical braking is started, the wheel axle is locked, the third-stage braking can be realized through the input and output module 3, of course, the braking mode is that after the vehicle is overspeed, a driver still steps on the accelerator without the clear automatic braking.
In this embodiment, a charging mode is further included, and accordingly, in the charging mode, the intelligent control module 9 receives the processing information of the charging control module 8, and correspondingly switches to the charging mode, at this time, the intelligent control module 9 is in communication connection with the charger 14 through the network communication module 10.
In the market, most electric vehicles need the staff to regularly charge and discharge and maintain the vehicle storage battery when not being used for a long time, and the maintenance cost is high and the efficiency is low.
If the engineering truck is an electric transport truck for transporting fire fighting equipment, the engineering truck needs to be started at any time to cope with emergency situations, so that when the engineering truck is not used for a long time, the traction storage battery needs to be regularly charged and discharged for self maintenance, and the vehicle can be ensured to be put into use at any time during the long-term parking period. Specifically, after the vehicle is connected with the charger 14, the intelligent control module 9 controls the charger 14 through the network communication module 10, after normal charging is completed, the intelligent control module 9 enters a low-power-consumption self-maintenance state, only a monitoring part related to the charging state is reserved, the power consumption of a network control system is reduced, the self-discharge condition of the traction storage battery is monitored in real time, when the voltage is reduced to a preset value due to self-discharge, the intelligent control module 9 restarts the charger 14 for floating charge maintenance and records the charging electric quantity, and the intelligent control module 9 is converted into the self-maintenance state again after charging is completed, so that the vehicle can always keep higher electric quantity during long-term parking.
By the network control system in the embodiment, mode conversion and intelligent operation of the engineering vehicle can be realized, a driver directly treads a traction pedal or a brake pedal, the treading amplitude of the pedal can be directly reflected into the acceleration of the vehicle, the controllability is strong, the comfort level and the flexibility are high, the vehicle on-road distance is shortened, and the vehicle on-road accuracy in a small range is realized; the method comprises the steps of dynamically calculating the residual electric quantity of the battery, distributing the electric quantity in a balanced manner, improving the battery endurance while effectively utilizing the electric quantity, calculating the power of the power utilization part in real time, limiting and protecting the power of electric appliances, and preventing the appliances from being burnt out due to overlarge current; to the vehicle of long-term standing and guard, carry out charge-discharge self-maintenance, the vehicle of being convenient for comes into operation at any time, promotes user's use and experiences.
Example two
The embodiment relates to a highway and railway electric engineering vehicle, for example, a highway and railway electric transport vehicle, which includes a network control system for the engineering vehicle, and the specific structure and working principle of the network control system are described in reference to fig. 1 and the first embodiment, which are not described herein again.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions.

Claims (10)

1. A network control system for a highway and railway electric engineering vehicle is characterized by comprising:
an input-output module that collects external operations in real time;
the system parameter module stores preset parameter information of the engineering vehicle;
the logic control module receives the acquired external operation and preset parameter information;
the mode selection module is used for controlling and switching the mode of the engineering truck according to the output of the logic control module;
the intelligent control module receives the relevant processing information of the corresponding mode;
the network communication module is communicated with the intelligent control module, the logic control module, the battery management unit and the traction control unit of the engineering truck;
the intelligent control module receives external operation, preset parameter information, information fed back by the traction control unit and battery information fed back by the battery management unit through the logic control module in a communication mode, and controls the operation of the traction control unit;
wherein the modes include a road mode, a railway mode, and a highway-railway mode, and the external operation includes at least a driver's operation of a pedal and a mode switching operation.
2. The network control system of claim 1, wherein the input output module receives pedal operation and converts to stroke percentage and inputs the stroke percentage to the logic control module; the logic control module sends the received stroke percentage, the information fed back by the traction control unit and the battery information fed back by the battery management unit to the intelligent control module, and the intelligent control module controls the output torque of the traction control unit.
3. The network control system according to claim 1, wherein the battery management unit sends the related information of the battery to the logic control module through the network communication module, the logic control module sends the received battery information in the related information of the battery and the preset parameter information to the intelligent control module, and the intelligent control module calculates the remaining battery capacity.
4. The network control system according to claim 3, wherein the intelligent control module records the charge and discharge capacity of the battery during deep discharge or charge, and corrects the battery information in the preset parameter information.
5. The network control system according to claim 3, wherein the intelligent control module controls power distribution to each power consuming part according to the remaining power of the battery.
6. The network control system according to any one of claims 3 to 5, further comprising a human-machine interface in bidirectional communication with the network communication module for displaying the remaining battery power output by the intelligent control module.
7. The network control system according to claim 1, wherein the intelligent control module obtains real-time power of each power consumption part and controls to reduce the power consumption of the corresponding part when the real-time power exceeds a preset peak value for a certain time.
8. The network control system according to claim 1, wherein the intelligent control module receives status information of a work vehicle in real time and monitors an operation condition of the work vehicle.
9. The network control system of claim 1, wherein the modes further comprise a charging mode, and the network control system further comprises a charging control module in communication with the intelligent control module; the network communication module is in communication connection with a charger for charging the battery of the engineering truck; the intelligent control module monitors the electric quantity of the battery, controls the charger to charge the battery when the electric quantity of the battery is reduced to a preset value, and enters a low power consumption state when the battery is fully charged.
10. An electric utility vehicle for both highway and railway, characterized by comprising the network control system according to any one of claims 1 to 9.
CN201911191723.3A 2019-11-28 2019-11-28 Network control system and highway-railway dual-purpose electric engineering vehicle Active CN110920543B (en)

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CN113002596A (en) * 2021-03-23 2021-06-22 中车青岛四方车辆研究所有限公司 Traction control system

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CN107757272A (en) * 2017-09-30 2018-03-06 苏州大方特种车股份有限公司 A kind of road rail vehicle
CN108407560A (en) * 2018-04-29 2018-08-17 成都西华新源科技有限公司 A kind of intelligence traction rail-road car system

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JP2013226967A (en) * 2012-04-26 2013-11-07 Aichi Corp Road/rail working vehicle
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Publication number Priority date Publication date Assignee Title
CN113002596A (en) * 2021-03-23 2021-06-22 中车青岛四方车辆研究所有限公司 Traction control system
CN113002596B (en) * 2021-03-23 2022-11-11 中车青岛四方车辆研究所有限公司 Traction control system

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