CN111976782A - Vehicle braking method and system and related components - Google Patents
Vehicle braking method and system and related components Download PDFInfo
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- CN111976782A CN111976782A CN201910429763.0A CN201910429763A CN111976782A CN 111976782 A CN111976782 A CN 111976782A CN 201910429763 A CN201910429763 A CN 201910429763A CN 111976782 A CN111976782 A CN 111976782A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61H—BRAKES OR OTHER RETARDING DEVICES SPECIALLY ADAPTED FOR RAIL VEHICLES; ARRANGEMENT OR DISPOSITION THEREOF IN RAIL VEHICLES
- B61H11/00—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types
- B61H11/14—Combinations of different types of brakes, e.g. brake blocks acting on wheel-rim combined with disc brakes
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- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
- B60L7/26—Controlling the braking effect
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- Power Engineering (AREA)
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- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The application discloses a vehicle braking method, a system, a device and a computer readable storage medium, comprising: when the brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed; acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to a motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time; and acquiring the current position of the motor rotor, and outputting an air braking force signal corresponding to the current position to the mechanical brake structure so as to keep the motor rotor at the current position. The electric brake system brakes the vehicle to zero speed through the electric brake force, then the mechanical brake structure is parked, abrasion of the mechanical brake structure is reduced, meanwhile, the electric brake can quickly respond to the brake deceleration requirement of the signal system, controllability of deceleration in the vehicle stability stopping process is improved, and therefore the benchmarking difficulty of the signal system is reduced.
Description
Technical Field
The present application relates to the field of braking, and more particularly, to a vehicle braking method, system, and related components.
Background
The braking system of the rail transit vehicle and the electric automobile is very important, the rail transit vehicle generally realizes vehicle braking through a parking mode of mixing electric braking force and air braking force, and the electric automobile generally realizes vehicle braking through a mechanical braking structure. According to the traditional electric-air hybrid parking mode, when a train runs at a high speed, braking is realized through electric braking force, when the train runs at a low speed, braking is realized through air braking force, when the train runs at the low speed, the electric braking force is completely withdrawn, and the air braking force is used for completing the parking action of the train, namely, the train speed is stabilized at zero speed. Because the precision deviation and the response time delay of the air brake are large, after the electric brake force is withdrawn, the vehicle brake cannot timely respond to the brake deceleration requirement of the signal system, so that the deceleration of the vehicle in the process of stopping stability is difficult to control, and the benchmarking difficulty of the signal system is increased.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The application aims to provide a vehicle braking method, a system, a device and a computer readable storage medium, which reduce the abrasion of a mechanical brake structure, simultaneously, an electric brake can quickly respond to the braking deceleration requirement of a signal system, and the controllability of the deceleration in the vehicle stopping process is improved, thereby reducing the alignment difficulty of the signal system
In order to solve the above technical problem, the present application provides a vehicle braking method, including:
when a brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed;
acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
the method comprises the steps of obtaining the current position of a motor rotor, and outputting an air braking force signal corresponding to the current position to a mechanical brake structure so as to enable the motor rotor to be kept at the current position.
Preferably, the preset speed is obtained according to a threshold speed relational expression, and the threshold speed relational expression is
V0For the preset speed, A0The initial acceleration, K is the impact rate.
Preferably, the process of acquiring the current speed and the current acceleration of the whole vehicle in real time and outputting the electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system specifically comprises the following steps:
acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
And outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
Preferably, before the step of outputting the electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque, the braking method further includes:
obtaining a compensation braking torque according to the electric braking force signal corresponding to the braking signal;
the process of outputting the electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque specifically comprises the following steps:
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the compensation braking moment and the adjustment braking moment.
Preferably, the motor traction system is a permanent magnet motor traction system.
In order to solve the above technical problem, the present application further provides a vehicle braking system, including:
the first braking module is used for outputting an electric braking force signal corresponding to the braking signal to a motor traction system when the braking signal is received, so that the speed of the whole vehicle is reduced to a preset speed;
the second braking module is used for acquiring the current speed and the current acceleration of the whole vehicle in real time and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
And the third braking module is used for acquiring the current position of the motor rotor and outputting an air braking force signal corresponding to the current position to the mechanical braking structure so as to keep the motor rotor at the current position.
Preferably, the preset speed is obtained according to a threshold speed relational expression, and the threshold speed relational expression is
V0For the preset speed, A0The initial acceleration, K is the impact rate.
Preferably, the process of acquiring the current speed and the current acceleration of the whole vehicle in real time and outputting the electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system specifically comprises the following steps:
acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
In order to solve the above technical problem, the present application further provides a vehicle brake device, including:
a memory for storing a computer program;
a processor for implementing the steps of the vehicle braking method according to any one of the above when said computer program is executed.
To solve the above technical problem, the present application further provides a computer-readable storage medium having a computer program stored thereon, which when executed by a processor, implements the steps of the vehicle braking method according to any one of the above.
The application provides a vehicle braking method, comprising the following steps: when the brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed; acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to a motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time; and acquiring the current position of the motor rotor, and outputting an air braking force signal corresponding to the current position to the mechanical brake structure so as to keep the motor rotor at the current position. This application is through electric brake power with the vehicle braking to zero speed, then the parking of rethread mechanical brake structure, can reduce the wearing and tearing of mechanical brake structure on the one hand, and on the other hand, electric brake can quick response signal system's braking deceleration requirement, has improved the controllability at vehicle stationary process deceleration to signal system's the mark degree of difficulty to having reduced, the security and the travelling comfort of vehicle have been improved. The application also provides a vehicle braking system, a vehicle braking device and a computer readable storage medium, which have the same beneficial effects as the vehicle braking method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the prior art and the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart illustrating steps of a method for braking a vehicle according to the present application;
FIG. 2 is a graph of speed, force versus time for a braking process as provided herein;
FIG. 3 is a force versus time graph for a conventional hybrid electric-air parking system provided herein;
FIG. 4 is a graph of speed, force versus time for an electric brake to zero parking mode as provided herein;
FIG. 5 is a control flow diagram of an acceleration control phase provided herein;
fig. 6 is a schematic structural diagram of a vehicle braking system provided by the present application.
Detailed Description
The core of the application is to provide a vehicle braking method, a system, a device and a computer readable storage medium, which reduce the abrasion of a mechanical brake structure, simultaneously, the electric brake can quickly respond to the braking deceleration requirement of a signal system, and improve the controllability of the deceleration in the vehicle stopping process, thereby reducing the benchmarking difficulty of the signal system.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating steps of a vehicle braking method according to the present application, including:
step 1: when the brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed;
step 2: acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to a motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
specifically, the brake signal may be sent by a driver, and after the entire vehicle receives the brake signal, an electric brake force signal is output to the motor traction system, so that the motor traction system outputs a corresponding electric brake force to control the train to decelerate, and in a process from the reception of the brake signal to the deceleration of the train to zero speed, a relationship between speed, force and time is shown in fig. 2, the entire process may be divided into three stages, namely a normal torque control stage before a time t1, an acceleration control stage between a time t1 and a time t2, and an angle positioning control stage after a time t 2.
Specifically, after the vehicle receives the braking signal, the electric braking force signal corresponding to the braking signal is output first, so that the motor traction system outputs a constant electric braking force to control the train to uniformly decelerate to a preset speed, where the preset speed is the vehicle speed V corresponding to the time t1 in fig. 20。
It can be understood that, in the running process of the train, the current speed of the whole train can be obtained in real time through the speed sensor, the current acceleration of the whole train is calculated according to the current speed of the whole train, the magnitude of the electric braking force is adjusted through the current speed of the whole train and the current acceleration of the whole train from the time t1, that is, the electric braking force output by the motor traction system is not constant any more and is gradually reduced from the time t1 to the time t2, and the electric braking force, the speed of the whole train and the acceleration of the whole train of the train are all zero until the time t2, so that the purpose of electric braking to zero is achieved.
Specifically, in order to achieve that the speed of the whole vehicle and the acceleration of the whole vehicle are zero at the same time, the preset speed needs to be determined in advance, the preset speed can also be understood as a threshold speed entering an acceleration control stage, and the acceleration of the whole vehicle and the speed of the whole vehicle respectively satisfy the following relational expressions: a (t) ═ A0+Kt、v(t)＝V0+A0t+1/2Kt2When the acceleration of the whole vehicle is gradually changed to 0, the speed of the whole vehicle is also 0, so that the acceleration can be obtained 
Wherein a (t) is the integral vehicle acceleration at the time of t, A0For the initial vehicle acceleration, that is, the vehicle acceleration corresponding to the time t1, it can be understood that, at the time 0-t1, since the electric braking force is constant, the vehicle acceleration is also constant, K is the impact rate, V (t) is the vehicle speed at the time t, and V (t) is the vehicle speed at the time t0The speed of the whole vehicle corresponding to the time t1, namely the preset speed, is changed from the preset speed V0And starting to adjust the electric braking force signal output to the motor traction system according to the current finished automobile speed and the current finished automobile acceleration so that the motor traction system outputs the electric braking force corresponding to the current finished automobile speed until the finished automobile acceleration and the finished automobile speed are simultaneously reduced to zero.
And step 3: and acquiring the current position of the motor rotor, and outputting an air braking force signal corresponding to the current position to the mechanical brake structure so as to keep the motor rotor at the current position.
Specifically, in order to prevent the train from sliding, the motor needs to be controlled to stabilize the train at zero speed, when the speed of the whole train is braked to zero speed (namely, at time t2 in fig. 2) through the electric braking force, the current position of the motor rotor is obtained, and the air braking force corresponding to the position is output to the mechanical brake structure, so that the motor rotor is kept at the position, and stable parking is realized.
In practical application, in a conventional electric-air hybrid parking mode, as shown in fig. 3, when a train brakes and parks, the electric braking force starts to exit at time t2, namely, a V2 speed point (about 6 km/h), and the air braking force starts to rise according to a contract impact rate and gradually replaces the electric braking force. Considering that the air brake has response delay characteristics, after the electric braking force is withdrawn, the vehicle brake cannot respond to the braking deceleration requirement of the signal system which changes rapidly in time, and therefore the calibration difficulty of the signal system is inevitably increased. By adopting the scheme of the application and referring to fig. 4, the full response speed point of the electric braking force can be as low as 2km/h (V1 speed point in fig. 4), namely when the speed of the whole vehicle is more than 2km/h, the electric braking force can quickly respond to the braking deceleration requirement of the signal system, so that the low-speed parking process is more controllable, the parking target alignment difficulty of the signal system is reduced, and the target alignment precision of the vehicle is improved.
Further, in the traditional electric-air hybrid parking mode, when the speed of the train is lower than 2km/h, the electric brake is completely withdrawn, and the air brake completes the stable parking action of the vehicle. Due to the large precision deviation and response delay of the air braking force, the deceleration of the vehicle in the stationary stage is difficult to control, and particularly when the train applies a maintaining braking force below 0.5km/h, the deceleration of the vehicle brake generates sudden change and brings large impact. In contrast, in the electric braking to zero parking mode provided by the application, referring to fig. 4, when the train speed is lower than 2km/h, 2km/h is taken as the preset speed in the application, an acceleration control stage is carried out, the smoothness of the deceleration of the vehicle in the 2km/h-0.5km/h parking stage is ensured by utilizing the high-precision and quick response characteristics of the electric braking force, and the whole process is stable and has no impact until the air braking force is applied.
Furthermore, in the traditional electric-air hybrid parking mode, when a train is braked and parked, the air brake starts to be put into use and plays a role at about 6km/h, and in the parking mode from the electric brake to zero, the air brake does not start to be put into use until the train needs to apply the holding brake at zero speed.
The application provides a vehicle braking method, comprising the following steps: when the brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed; acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to a motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time; and acquiring the current position of the motor rotor, and outputting an air braking force signal corresponding to the current position to the mechanical brake structure so as to keep the motor rotor at the current position. This application is through electric brake power with the vehicle braking to zero speed, then the parking of rethread mechanical brake structure, can reduce the wearing and tearing of mechanical brake structure on the one hand, and on the other hand, electric brake can quick response signal system's braking deceleration requirement, has improved the controllability at vehicle stationary process deceleration to signal system's the mark degree of difficulty to having reduced, the security and the travelling comfort of vehicle have been improved.
On the basis of the above-described embodiment:
as a preferred embodiment, the process of acquiring the current speed and the current acceleration of the entire vehicle in real time and outputting an electric braking force signal corresponding to the current speed of the entire vehicle to the motor traction system specifically includes:
acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
As a preferred embodiment, before outputting the electric braking force signal corresponding to the current time to the electric motor traction system according to the adjusted braking torque, the braking method further includes:
obtaining a compensation braking torque according to the electric braking force signal corresponding to the braking signal;
the process of outputting the electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque is specifically as follows:
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the compensation braking moment and the adjustment braking moment.
Specifically, referring to fig. 5, fig. 5 is a control flowchart of an acceleration control stage provided in the present application, and it can be understood that after the preset speed is determined, the target vehicle speed corresponding to each time of the acceleration control stage may be determined according to a preset rule, and specifically, refer to the V-t image, V-t image in fig. 6 0Namely the preset speed, the current vehicle speed v (t) corresponding to the current moment t and the target vehicle speed v are obtained*(t) for the current vehicle speed v (t) and the target vehicle speedv*(T) performing PI control regulation to output an adjusted braking torque DeltaT, TsetIs the braking torque when the electric braking force is constant, and the gain compensation is carried out on the braking torque to obtain the compensated braking torque TfwdAccording to the compensating braking torque TfwdAnd adjusting the braking torque delta T to calculate the current braking torque TrefSo as to obtain the current braking torque TrefAnd outputting a corresponding electric braking force signal.
In a preferred embodiment, the electric machine traction system is a permanent magnet electric machine traction system.
It can be understood that the motor traction system comprises an asynchronous motor traction system and a permanent magnet motor traction system, in the asynchronous motor traction system, because slip exists between a rotor and a stator of the asynchronous motor, and the rotating speed of the asynchronous motor is derived from pulses generated by a speed code disc, the precision of the rotating speed of the motor is low when the vehicle is at low speed, so that the zero speed of the electric brake to zero generally refers to relative zero speed, and the speed of the whole vehicle is generally about 0.5 km/h. In the permanent magnet motor traction system, due to the synchronous control mode of the motor and the adoption of a rotary transformer for acquiring speed signals, even when a vehicle runs at a low speed, a more accurate motor rotating speed can still be acquired, so that the electric brake can act on the absolute zero speed of 0km/h from zero. Compared with the asynchronous motor traction system which applies air braking force when the vehicle is at 0.5km/h, the permanent magnet motor traction system can apply air braking force after the vehicle is completely stopped, so that the impact caused by braking at the speed of the vehicle is completely avoided. Because permanent-magnet machine synchronous control mode and the more accurate rotational speed closed loop of its low-speed section for permanent-magnet machine is superior to asynchronous machine easily in the control effect of low-speed section, and then makes the control in the acceleration control stage in this application more accurate. The deceleration of the vehicle under the control of the acceleration control stage is smoother, the parking stability is good, and the comfort level is high. After the electric brake is stopped to zero speed and reaches zero speed, the motor is controlled to stabilize the vehicle at zero speed in order to prevent the vehicle from slipping. The permanent magnet motor adopts an angle positioning mode to more accurately stabilize the vehicle at zero speed; and the permanent magnet motor adopts a synchronous control mode, excitation is not needed, the traction/braking response is faster, the vehicle can stop and is more stable, the vehicle is not afraid of sliding, and the safety is higher.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a vehicle braking system provided in the present application, including:
the first brake module 1 is used for outputting an electric brake force signal corresponding to the brake signal to a motor traction system when receiving the brake signal so as to reduce the speed of the whole vehicle to a preset speed;
the second braking module 2 is used for acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
and the third brake module 3 is used for acquiring the current position of the motor rotor and outputting an air brake force signal corresponding to the current position to the mechanical brake structure so as to keep the motor rotor at the current position.
As a preferred embodiment, the predetermined speed is obtained from a threshold speed relationship of
V0At a predetermined speed, A0The initial acceleration, K is the impact rate.
As a preferred embodiment, the process of acquiring the current speed and the current acceleration of the entire vehicle in real time and outputting an electric braking force signal corresponding to the current speed of the entire vehicle to the motor traction system specifically includes:
Acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
As a preferred embodiment, before outputting the electric braking force signal corresponding to the current time to the electric motor traction system according to the adjusted braking torque, the braking method further includes:
obtaining a compensation braking torque according to the electric braking force signal corresponding to the braking signal;
the process of outputting the electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque is specifically as follows:
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the compensation braking moment and the adjustment braking moment.
In a preferred embodiment, the electric machine traction system is a permanent magnet electric machine traction system.
The braking system of the permanent magnet vehicle has the same beneficial effects as the braking method of the permanent magnet vehicle.
For the description of the permanent magnet vehicle braking system provided in the present application, please refer to the above embodiments, which are not described herein again.
Correspondingly, the application also provides a vehicle braking device, which comprises:
a memory for storing a computer program;
a processor for implementing the steps of a vehicle braking method as claimed in any one of the above when the computer program is executed.
The braking device of the permanent magnet vehicle has the same beneficial effects as the braking method of the permanent magnet vehicle.
For the description of the braking device for a permanent magnet vehicle provided in the present application, please refer to the above embodiments, which are not described herein again.
Accordingly, the present application also provides a computer readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the vehicle braking method as any one of the above.
The computer-readable storage medium provided by the present application has the same advantageous effects as the braking method of the permanent magnet vehicle described above.
For the introduction of a computer-readable storage medium provided in the present application, please refer to the above embodiments, which are not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A vehicle braking method, characterized by comprising:
when a brake signal is received, outputting an electric brake force signal corresponding to the brake signal to a motor traction system so as to reduce the speed of the whole vehicle to a preset speed;
acquiring the current speed and the current acceleration of the whole vehicle in real time, and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
the method comprises the steps of obtaining the current position of a motor rotor, and outputting an air braking force signal corresponding to the current position to a mechanical brake structure so as to enable the motor rotor to be kept at the current position.
2. A method according to claim 1, wherein said predetermined speed is obtained from a threshold speed relationship of
V0For the preset speed, A0The initial acceleration, K is the impact rate.
3. The vehicle braking method according to claim 1, wherein the process of acquiring the current vehicle speed and the current vehicle acceleration in real time and outputting the electric braking force signal corresponding to the current vehicle speed to the motor traction system specifically comprises:
acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
4. The vehicle braking method according to claim 3, wherein before outputting the electric braking force signal corresponding to the current time to the motor traction system according to the adjusted braking torque, the braking method further comprises:
obtaining a compensation braking torque according to the electric braking force signal corresponding to the braking signal;
The process of outputting the electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque specifically comprises the following steps:
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the compensation braking moment and the adjustment braking moment.
5. The vehicle braking method according to any one of claims 1 to 4, characterized in that the electric motor traction system is a permanent magnet motor traction system.
6. A vehicle braking system, comprising:
the first braking module is used for outputting an electric braking force signal corresponding to the braking signal to a motor traction system when the braking signal is received, so that the speed of the whole vehicle is reduced to a preset speed;
the second braking module is used for acquiring the current speed and the current acceleration of the whole vehicle in real time and outputting an electric braking force signal corresponding to the current speed of the whole vehicle to the motor traction system until the current speed and the current acceleration of the whole vehicle are zero at the same time;
and the third braking module is used for acquiring the current position of the motor rotor and outputting an air braking force signal corresponding to the current position to the mechanical braking structure so as to keep the motor rotor at the current position.
7. A vehicle braking system according to claim 6 wherein the predetermined speed is derived from a threshold speed relationship of
V0For the preset speed, A0The initial acceleration, K is the impact rate.
8. The vehicle braking system according to claim 6, wherein the process of acquiring the current vehicle speed and the current vehicle acceleration in real time and outputting the electric braking force signal corresponding to the current vehicle speed to the motor traction system specifically comprises:
acquiring a current finished automobile speed and a target finished automobile speed corresponding to the current moment;
obtaining an adjusting braking torque according to the current finished automobile speed and the target finished automobile speed corresponding to the current moment;
and outputting an electric braking force signal corresponding to the current moment to the motor traction system according to the adjusted braking torque.
9. A vehicle brake device, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the vehicle braking method according to any one of claims 1 to 5 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the vehicle braking method according to any one of claims 1-5.
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| CN201910429763.0A CN111976782B (en) | 2019-05-22 | 2019-05-22 | Vehicle braking method and system and related components |
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| CN201910429763.0A CN111976782B (en) | 2019-05-22 | 2019-05-22 | Vehicle braking method and system and related components |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112590854A (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 |
| CN112859610A (en) * | 2021-01-15 | 2021-05-28 | 青岛地铁集团有限公司运营分公司 | Railway vehicle control operation system and minimum wear control algorithm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112590854A (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 |
| CN112590854B (en) * | 2021-01-05 | 2022-06-14 | 中车株洲电力机车有限公司 | Subway vehicle air brake supplementing method and device |
| CN112859610A (en) * | 2021-01-15 | 2021-05-28 | 青岛地铁集团有限公司运营分公司 | Railway vehicle control operation system and minimum wear control algorithm |
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| CN116215600A (en) * | 2023-02-10 | 2023-06-06 | 克诺尔车辆设备(苏州)有限公司 | Method and device for controlling standard alignment and parking of railway vehicle and computer storage medium |
| CN116215600B (en) * | 2023-02-10 | 2023-11-28 | 克诺尔车辆设备(苏州)有限公司 | Method and device for controlling standard alignment and parking of railway vehicle and computer storage medium |
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