CN111959464A - Brake control method and system for semi-trailer train and vehicle - Google Patents
Brake control method and system for semi-trailer train and vehicle Download PDFInfo
- Publication number
- CN111959464A CN111959464A CN202010767851.4A CN202010767851A CN111959464A CN 111959464 A CN111959464 A CN 111959464A CN 202010767851 A CN202010767851 A CN 202010767851A CN 111959464 A CN111959464 A CN 111959464A
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- Prior art keywords
- trailer
- brake
- shaft pin
- force
- hitching
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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
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- 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
- B60T13/10—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 fluid assistance, drive, or release
- B60T13/24—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 fluid assistance, drive, or release the fluid being gaseous
- B60T13/26—Compressed-air systems
Abstract
The invention provides a brake control method and system for a semi-trailer train and a vehicle, and relates to the technical problem of vehicle safety. The semi-trailer train comprises a tractor and a trailer, and the braking control method for the semi-trailer train is used for firstly acquiring the hitching force borne by a shaft pin when the tractor brakes, wherein the shaft pin is used for connecting the tractor and the trailer, and then adjusting the braking air pressure of the trailer according to the hitching force of the shaft pin so as to change the braking strength of the trailer. According to the invention, the actual braking coordination condition between the tractor and the trailer during vehicle braking is judged through the hitching force of the shaft pin, and the braking coordination of the tractor and the trailer can be ensured by adjusting the braking air pressure of the trailer, so that the safety during vehicle braking can be improved.
Description
Technical Field
The invention relates to the technical problem of vehicle safety, in particular to a brake control method and system for a semi-trailer train and a vehicle.
Background
The brake coordination between the tractor and the trailer of the vehicle in the current market is not good, the brake coordination between the tractor and the trailer can cause the dangerous situations of folding, instability and the like of the vehicle, and the friction plate of the vehicle can be worn abnormally. In order to guarantee safety and the fact that the vehicle friction disc can not excessively wear and tear on the market at present, can reequip the urgent relay valve of trailer, trailer brake force is greater than the tractor when guaranteeing fully loaded, but because reasons such as vehicle load and brake performance difference, the effect has very big difference. The basic method for realizing the brake coordination of the tractor and the trailer is to distribute the brake force of each shaft according to the actual shaft load of each shaft of the tractor and the trailer during braking, and ensure that the shaft load of the tractor and the trailer is consistent with the generated brake force proportion. GB12676 specifies that the tractor and trailer are coordinated and that the intensity of the brake of the tractor is within a reasonable range with respect to the output pressure value of the trailer control loop. However, in practical situations, due to the difference between the performance of the vehicle brake and the load of the vehicle, the braking strength of the tractor may not be within a reasonable range corresponding to the output pressure value of the trailer control circuit, so that the safety of the semi-trailer train during braking is relatively low.
Disclosure of Invention
An object of the first aspect of the present invention is to provide a brake control method for a semi-trailer train, which solves the technical problem of low brake safety caused by inconsistent braking of a tractor and a trailer in the prior art.
It is an object of a second aspect of the present invention to provide a brake control system for a semi-trailer train.
It is a further object of the second aspect of the present invention to improve the stability of the air pressure in the trailer brake system.
An object of a third aspect of the invention is to provide a vehicle having the brake control system described above.
According to an object of a first aspect of the present invention, there is provided a brake control method for a semi-trailer train including a tractor and a trailer, comprising:
acquiring hitching force applied to a shaft pin when the tractor brakes, wherein the shaft pin is used for connecting the tractor and the trailer;
and adjusting the brake air pressure of the trailer according to the hitching force of the shaft pin so as to change the brake strength of the trailer.
Optionally, adjusting the brake air pressure of the trailer according to the hitching force of the axle pin specifically includes:
judging whether the hooking force of the shaft pin exceeds a preset hooking force range or not;
and if so, controlling to increase the air pressure of the trailer brake system so as to improve the brake strength of the trailer, so that the hitching force of the shaft pin is reduced to the preset hitching force range.
Optionally, if the hitching force of the axle pin is lower than the preset hitching force range, controlling to reduce the air pressure of the trailer brake system to reduce the brake strength of the trailer, so that the hitching force of the axle pin is increased to be within the preset hitching force range.
According to a second aspect of the invention, there is provided a brake control system for a semi-trailer train comprising:
the acquisition module is used for acquiring hitching force borne by a shaft pin when the tractor brakes, and the shaft pin is used for connecting the tractor and the trailer; and
the control device comprises a memory and a processor, wherein a control program is stored in the memory, and the control program is used for realizing the control method when being executed by the processor.
Optionally, the method further comprises:
the end part of the first loop and the end part of the second loop are both connected with a gas storage tank arranged on the tractor, the first loop is used for conveying preset gas to the trailer braking system to control the trailer to brake when the tractor brakes, and the second loop is used for adjusting the gas pressure in the trailer braking system when the tractor brakes so that the hitching force of the shaft pin is in the preset hitching force range.
Optionally, the method further comprises:
the three-position three-way electromagnetic valve is arranged on the second loop and comprises an air inlet, an air outlet and an air outlet, the air inlet is connected with the air storage tank, and the air outlet is connected with the trailer braking system.
Optionally, the method further comprises:
a one-way valve disposed on the first circuit to allow gas in the first circuit to flow one-way to the trailer brake system.
And the control device is used for controlling the air inlet and the air outlet of the three-position three-way electromagnetic valve to be communicated when the hitching force of the shaft pin exceeds the preset hitching force range so as to increase the air pressure of the trailer brake system, and controlling the air outlet and the air outlet of the three-position three-way electromagnetic valve to be communicated when the hitching force of the shaft pin is lower than the preset hitching force range so as to reduce the air pressure of the trailer brake system.
Optionally, the control device is further configured to control the three-position three-way solenoid valve to be in a closed state when the hooking force of the shaft pin is within the preset hooking force range, so as to maintain the hooking force of the shaft pin within the preset hooking force range.
According to an object of a third aspect of the invention, there is provided a vehicle equipped with the brake control system described above.
According to the invention, the hitching force borne by the shaft pin is obtained when the tractor brakes, the shaft pin is used for connecting the tractor and the trailer, and then the braking air pressure of the trailer is adjusted according to the hitching force of the shaft pin so as to change the braking strength of the trailer. According to the invention, the actual braking coordination condition between the tractor and the trailer during vehicle braking is judged through the hitching force of the shaft pin, and the braking coordination of the tractor and the trailer can be ensured by adjusting the braking air pressure of the trailer, so that the safety during vehicle braking can be improved.
Further, the present invention provides a one-way valve in the first circuit to allow one-way flow of gas from the first circuit to the trailer brake system. The invention can ensure that the gas flowing to the trailer brake system can not flow back, thereby improving the stability of the trailer brake system.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a brake control method for a semi-trailer train in accordance with one embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a brake control method for a semi-trailer train in accordance with another embodiment of the present invention;
FIG. 3 is a schematic block diagram of a brake control system for a semi-trailer train in accordance with one embodiment of the present invention;
fig. 4 is a gas flow diagram of a brake control system according to one embodiment of the present invention increasing the brake pressure of a trailer.
Fig. 5 is a gas flow diagram of a brake control system reducing the brake pressure of a trailer in accordance with one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
FIG. 1 is a schematic flow diagram of a brake control method for a semi-trailer train in accordance with one embodiment of the present invention. As shown in FIG. 1, in one particular embodiment, a brake control method for a semi-trailer train may generally include the steps of:
s100, acquiring hitching force borne by a shaft pin when a tractor brakes, wherein the shaft pin is used for connecting the tractor and a trailer, and the semi-trailer train comprises the tractor and the trailer;
and S200, adjusting the brake air pressure of the trailer according to the hanging force of the shaft pin so as to change the brake strength of the trailer. Here, the hooking force of the shaft pin refers to a shearing force applied to the shaft pin. Here, the brake air pressure of the trailer is adjusted by determining the magnitude of the hitch force during braking.
According to the invention, the actual braking coordination condition between the tractor and the trailer during vehicle braking is judged according to the hanging force of the shaft pin, and the braking coordination between the tractor and the trailer can be ensured by adjusting the braking air pressure, namely the braking strength, of the trailer, so that the safety during vehicle braking can be improved. Here, the magnitude of the axle pin coupling force can directly reflect the brake coordination of the tractor and the trailer.
Fig. 2 is a schematic flow chart of a brake control method for a semi-trailer train in accordance with another embodiment of the present invention. In another embodiment, as shown in fig. 2, the method for adjusting the brake air pressure of the trailer according to the hitching force of the axle pin specifically comprises the following steps:
s210, judging whether the hooking force F of the shaft pin exceeds a preset hooking force range; if yes, go to step S220; if not, go to step S230;
s220, controlling and increasing air pressure of a trailer brake system to improve the brake strength of the trailer, so that the hitching force of the shaft pin is reduced to be within the preset hitching force range;
s230, judging whether the hanging force F of the shaft pin is lower than a preset hanging force range; if yes, go to step S240; if not, go to step S250;
s240, controlling to reduce the air pressure of a trailer brake system to reduce the brake strength of the trailer, so that the hitching force of the shaft pin is increased to be within a preset hitching force range;
and S250, controlling the trailer brake system to be in a pressure maintaining state so as to maintain the hitching force of the shaft pin within a preset hitching force range.
Here, the order of the determination step S210 and the determination step S230 is not required, and the two steps are to determine whether the hitching force F is within the preset hitching force range, and finally, to change the braking strength of the trailer by adjusting the air pressure of the braking system, so that the hitching force of the axle pin is within the preset hitching force range.
In one embodiment, the predetermined hitching force range may be-15000N to 10000N. In addition, the preset hitching force range can be specifically set according to actual requirements.
The invention can adjust the braking air pressure of the trailer in real time when the vehicle brakes, so that the hitching force of the shaft pin is in the preset hitching force range, thereby ensuring better braking coordination of the tractor and the trailer and improving the braking safety of the vehicle.
Fig. 3 is a schematic block diagram of a brake control system 100 for a semi-trailer train in accordance with one embodiment of the present invention. As shown in fig. 3, in a specific embodiment, a brake control system 100 for a semi-trailer train comprises an acquisition module 10 and a control device 20 for acquiring a coupling force to which a pin is subjected when a tractor brakes, wherein the pin is used to couple the tractor to a trailer. The control device 20 includes a memory 21 and a processor 22, wherein a control program is stored in the memory 21, and the control program is used for implementing the control method in any one of the above embodiments when executed by the processor 22. The processor 22 may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor 22 transceives data through the communication interface. The memory 21 is used for storing programs executed by the processor. The memory 21 is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, or a combination of memories. The control program may be downloaded from a computer readable storage medium to a corresponding computing/processing device or downloaded to a computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network.
In particular, the acquisition module 10 may be a sensor disposed on the shaft pin, and may directly detect the force applied to the shaft pin.
Fig. 4 is a gas flow diagram of the brake control system 100 increasing the brake pressure of a trailer in accordance with one embodiment of the present invention. Fig. 5 is a gas flow diagram of the brake control system 100 reducing the brake pressure of a trailer in accordance with one embodiment of the present invention. As shown in fig. 4 and 5, wherein the direction of the arrows indicates the flow direction of the gas. In another embodiment, the brake control system 100 for a semi-trailer train further comprises a first circuit and a second circuit connected to the trailer brake system 50, the ends of the first circuit and the second circuit each being connected to a gas reservoir 30 provided on the tractor, the first circuit being adapted to deliver a predetermined gas to the trailer brake system 50 to control braking of the trailer when braking occurs on the tractor, and the second circuit being adapted to regulate the gas pressure in the trailer brake system 50 to regulate the strength of braking of the trailer when braking occurs on the tractor. That is, the first circuit is that the trailer control valve 70 controls the air storage tank 30 to input preset air to the trailer brake system 50 according to the brake related information, so as to brake the trailer brake system 50, but the compatibility of the braking performance of the trailer and the tractor cannot be actually made good if the trailer is controlled to brake only through the one circuit, the braking strength of the tractor may be greater than that of the trailer, so that the situation that the trailer pushes the tractor may occur, and the braking strength of the tractor is less than that of the trailer, so that the trailer pulls the tractor may occur. Both of these situations are due to the brake mismatch of the tractor and the trailer. Therefore, the air pressure of the trailer brake system 50 is adjusted in real time by arranging the second loop according to the hitching force of the shaft pin, and the braking strength of the trailer is actually adjusted, so that the braking strength of the trailer is coordinated with the braking strength of the tractor, the hitching force of the shaft pin is ensured to be in a proper preset hitching force range, and the braking safety of the vehicle is ensured.
Further, the brake control system 100 for the semi-trailer train further comprises a three-position three-way electromagnetic valve 40 arranged on the second loop, wherein the three-position three-way electromagnetic valve 40 comprises an air inlet 41, an air outlet 43 and an air outlet 42, the air inlet 41 is connected with the air storage tank 30, and the air outlet 43 is connected with the trailer brake system 50.
Further, the brake control system 100 for a semi-trailer train further includes a check valve 60 disposed on the first circuit to allow gas in the first circuit to flow unidirectionally to the trailer brake system 50, thereby improving stability of the pressure of the trailer brake system 50 without allowing gas from the trailer brake system 50 to flow to the trailer control valve 70, resulting in a loss of pressure.
Specifically, the control device 20 is configured to control the air inlet 41 and the air outlet 43 of the three-position three-way solenoid valve 40 to communicate with each other to increase the air pressure of the trailer brake system 50 when the axle pin hitching force exceeds the preset hitching force range, and to control the air outlet 43 and the air outlet 42 of the three-position three-way solenoid valve 40 to communicate with each other to decrease the air pressure of the trailer brake system 50 when the axle pin hitching force is lower than the preset hitching force range.
Further, the control device 20 is further configured to control the three-position three-way solenoid valve 40 to be in a closed state when the hitch force of the axle pin is within the preset hitch force range, so as to maintain the air pressure of the trailer brake system 50 within the preset hitch force range.
Further, when the driver releases the brake pedal, the control device 20 controls the air outlet 43 of the three-position three-way electromagnetic valve 40 to communicate with the air outlet 42 according to the non-braking state of the brake switch signal, and exhausts the air at the end of the air outlet 43 of the one-way valve 60.
According to the invention, the three-position three-way electromagnetic valve 40 is used for controlling the air in and out of the trailer braking system 50, so that the air pressure in the trailer braking system 50 is adjusted, the braking strength of the trailer can be further adjusted, the braking strength of the trailer is coordinated with the braking strength of the tractor, and the hitching force of the shaft pin is in a proper range. The invention has the advantages of small structural change to the prior art, simple structure and easy realization, and only adds one three-position three-way electromagnetic valve 40.
The invention also provides a vehicle equipped with the brake control system 100 of any one of the embodiments described above. The brake control system 100 is not described in detail herein.
Compared with the large-proportion trailer emergency relay valve (only suitable for the full-load state) adopted in the prior art and a measurement mode of converting the large-proportion trailer emergency relay valve and the load sensing valve through axle load change, the technical scheme of the invention has more accurate precision of adjusting the air pressure of the braking system according to the hanging force of the axle pin. In addition, the actual matching condition of the tractor and the trailer during vehicle braking can be truly reflected by measuring the stress condition of the shaft pin, and the actual condition of the Brake force coordination of the main trailer of the vehicle can be more directly reflected by the method of comparing and calculating the wheel speed than the conventional EBS (Electronic Brake Systems) system.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A brake control method for a semi-trailer train including a tractor and a trailer, comprising:
acquiring hitching force applied to a shaft pin when the tractor brakes, wherein the shaft pin is used for connecting the tractor and the trailer;
and adjusting the brake air pressure of the trailer according to the hitching force of the shaft pin so as to change the brake strength of the trailer.
2. The brake control method according to claim 1, wherein adjusting the brake air pressure of the trailer according to the hooking force of the axle pin comprises:
judging whether the hooking force of the shaft pin exceeds a preset hooking force range or not;
and if so, controlling to increase the air pressure of the trailer brake system so as to improve the brake strength of the trailer, so that the hitching force of the shaft pin is reduced to the preset hitching force range.
3. The brake control method according to claim 2,
and if the hitching force of the shaft pin is lower than the preset hitching force range, controlling to reduce the air pressure of a trailer braking system so as to reduce the braking strength of the trailer, so that the hitching force of the shaft pin is increased to be within the preset hitching force range.
4. A brake control system for a semi-trailer train, comprising:
an acquisition module (10) for acquiring a hitching force to which a shaft pin is subjected when the tractor brakes, the shaft pin being used to connect the tractor with the trailer; and
control device (20), the control device (20) comprising a memory (21) and a processor (22), the memory (21) having stored therein a control program, the control program, when executed by the processor (22), being for implementing the control method according to any one of claims 1-3.
5. The brake control system according to claim 4, characterized by further comprising:
the brake system comprises a first loop and a second loop, wherein the first loop and the second loop are connected with a trailer brake system (50), the end part of the first loop and the end part of the second loop are both connected with an air storage tank (30) arranged on the tractor, the first loop is used for conveying preset air to the trailer brake system (50) to control the trailer to brake when the tractor brakes, and the second loop is used for adjusting air pressure in the trailer brake system (50) when the tractor brakes, so that the hitching force of the shaft pin is within the preset hitching force range.
6. The brake control system according to claim 5, characterized by further comprising:
the three-position three-way electromagnetic valve (40) is arranged on the second loop, the three-position three-way electromagnetic valve (40) comprises an air inlet (41), an air outlet (43) and an air outlet (42), the air inlet (41) is connected with the air storage tank (30), and the air outlet (43) is connected with the trailer brake system (50).
7. The brake control system according to claim 5, characterized by further comprising:
a one-way valve (60) disposed on the first circuit to provide one-way flow of gas in the first circuit to the trailer brake system (50).
8. The brake control system according to claim 6,
and the control device (20) is used for controlling the air inlet (41) and the air outlet (43) of the three-position three-way electromagnetic valve (40) to be communicated when the hitching force of the shaft pin exceeds the preset hitching force range so as to increase the air pressure of the trailer brake system (50), and controlling the air outlet (43) and the air outlet (42) of the three-position three-way electromagnetic valve (40) to be communicated when the hitching force of the shaft pin is lower than the preset hitching force range so as to decrease the air pressure of the trailer brake system (50).
9. The brake control system according to claim 8,
the control device (20) is further used for controlling the three-position three-way electromagnetic valve (40) to be in a closed state when the hooking force of the shaft pin is within the preset hooking force range, so that the hooking force of the shaft pin is maintained within the preset hooking force range.
10. A vehicle, characterized in that the vehicle is equipped with a brake control system according to any one of claims 4-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010767851.4A CN111959464A (en) | 2020-08-03 | 2020-08-03 | Brake control method and system for semi-trailer train and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010767851.4A CN111959464A (en) | 2020-08-03 | 2020-08-03 | Brake control method and system for semi-trailer train and vehicle |
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| Publication Number | Publication Date |
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| CN111959464A true CN111959464A (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010767851.4A Pending CN111959464A (en) | 2020-08-03 | 2020-08-03 | Brake control method and system for semi-trailer train and vehicle |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1598879A (en) * | 1977-11-25 | 1981-09-23 | Bosch Gmbh Robert | Draw-bar force regulators |
| WO1993007031A1 (en) * | 1991-09-30 | 1993-04-15 | Robert Bosch Gmbh | Pressure-operated brake system for vehicle combinations |
| JPH07251728A (en) * | 1994-02-23 | 1995-10-03 | Robert Bosch Gmbh | Brake system |
| US7734405B2 (en) * | 2006-05-03 | 2010-06-08 | Tandy Engineering & Associates, Inc. | Method for enhancing stability of prime mover having an auxiliary vehicle |
| CN110435624A (en) * | 2019-08-22 | 2019-11-12 | 三一汽车起重机械有限公司 | Trailer towing draught control system, load balance factor power adjusting method and engineering truck |
| CN110461672A (en) * | 2017-03-21 | 2019-11-15 | 威伯科有限公司 | The integrated trailer control module (TCV) of hand brake unit (EPH) with external pneumatosphere |
-
2020
- 2020-08-03 CN CN202010767851.4A patent/CN111959464A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1598879A (en) * | 1977-11-25 | 1981-09-23 | Bosch Gmbh Robert | Draw-bar force regulators |
| WO1993007031A1 (en) * | 1991-09-30 | 1993-04-15 | Robert Bosch Gmbh | Pressure-operated brake system for vehicle combinations |
| JPH07251728A (en) * | 1994-02-23 | 1995-10-03 | Robert Bosch Gmbh | Brake system |
| US7734405B2 (en) * | 2006-05-03 | 2010-06-08 | Tandy Engineering & Associates, Inc. | Method for enhancing stability of prime mover having an auxiliary vehicle |
| CN110461672A (en) * | 2017-03-21 | 2019-11-15 | 威伯科有限公司 | The integrated trailer control module (TCV) of hand brake unit (EPH) with external pneumatosphere |
| CN110435624A (en) * | 2019-08-22 | 2019-11-12 | 三一汽车起重机械有限公司 | Trailer towing draught control system, load balance factor power adjusting method and engineering truck |
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Application publication date: 20201120 |