CN112092644B - Anti-skid and anti-idle-rotation method and system for traction system - Google Patents
Anti-skid and anti-idle-rotation method and system for traction system Download PDFInfo
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- CN112092644B CN112092644B CN202010812657.3A CN202010812657A CN112092644B CN 112092644 B CN112092644 B CN 112092644B CN 202010812657 A CN202010812657 A CN 202010812657A CN 112092644 B CN112092644 B CN 112092644B
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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
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C15/00—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61C—LOCOMOTIVES; MOTOR RAILCARS
- B61C15/00—Maintaining or augmenting the starting or braking power by auxiliary devices and measures; Preventing wheel slippage; Controlling distribution of tractive effort between driving wheels
- B61C15/08—Preventing wheel slippage
- B61C15/12—Preventing wheel slippage by reducing the driving power
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
-
- 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
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
Abstract
The application provides an anti-skid and anti-idle-running method and system for a traction system, which comprises the steps of obtaining weight information of a rail car and current road section information of the rail car; acquiring the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information; starting a traction motor of the rail car in a constant acceleration mode according to the driving acceleration; analyzing whether the output torque of the traction motor in a preset time period reaches the critical torque or not; if the output torque of the traction motor in a preset time period does not reach the critical torque, the traction motor stops accelerating; the problems of sliding, idling and the like of the steel wheels of the rail car can be well prevented in the running process of the rail car.
Description
Technical Field
The application relates to the technical field of air rail transportation, in particular to an anti-skid and anti-idle-rotation method and system of a traction system.
Background
At present, a large number of railcars need to be transported at transfer stations such as ports and railway stations, and the existing transportation mode of railcars mainly still involves transportation by a railcar freight truck, but the transportation efficiency of the railcar freight truck is low, the process is complicated, and the management of the railcars is not facilitated. The air rail transportation has been applied to the field of freight transportation by virtue of the advantages of low cost, large freight transportation amount and high efficiency, but how to prevent the phenomena of idling or slipping of steel wheels of the rail car and the like in the transportation process is still the technical problem to be solved at present. The patent publication No. CN201810961271.1 provides an optimized control method for preventing idling and skid-proof adhesion of a rail train, which uses the extracted acceleration and speed difference as the determination conditions to adjust when the rail train slides or idles, but in this way, the steel wheels and steel rails still have idling or sliding problems. There is a need to provide a better solution to prevent slipping or lost motion problems between the steel wheels of the rail car and the rail during empty rail transportation.
Disclosure of Invention
The application aims to provide an anti-skidding and anti-idling method and an anti-skidding and anti-idling system for a traction system, and the technical effect of preventing steel wheels of a rail car from skidding or idling in the transportation process is achieved.
In a first aspect, an embodiment of the present application provides an anti-skid and anti-idle-running method for a traction system, including acquiring weight information of a railcar and current road section information of the railcar; acquiring the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information; starting a traction motor of the rail car in a constant acceleration mode according to the driving acceleration; analyzing whether the output torque of the traction motor in a preset time period reaches the critical torque or not; and if the output torque of the traction motor in a preset time period does not reach the critical torque, stopping accelerating the traction motor.
Further, the method further comprises: and analyzing the control scheme of the traction motor on each road section in multiple transportation processes, and analyzing the optimal control scheme of the traction motor on each road section according to the control scheme.
Further, the method further comprises: acquiring the change information of the current transportation route of the rail car; and adjusting the control scheme of the traction motor according to the change information.
Further, if the output torque of the traction motor in a preset time period does not reach the critical torque, the step of stopping acceleration of the traction motor further includes: and if the output torque of the traction motor in a preset time period does not reach the critical torque, stopping accelerating the traction motor and reducing the running speed of the rail car according to a preset speed reduction scheme.
Further, the step of obtaining the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information includes: acquiring a corresponding control model according to the current road section information; and calling the driving acceleration and the preset critical torque of the rail car from the control model according to the weight information.
Further, the method further comprises: acquiring road condition information of a transportation route where the rail car is located and weight information of the rail car; establishing a control scheme corresponding to each road section of the rail vehicle according to the road condition information and the weight information; and establishing a control model of the rail car on the transportation route according to the control scheme.
Further, the method further comprises: acquiring a control scheme corresponding to each rail car on the current transportation route; and updating the control model of each railcar according to the control scheme.
In a second aspect, an anti-skid and anti-idle system of a traction system is further provided in an embodiment of the present application, including a weight detection device disposed on a rail car; the weight information of the rail car is detected; the output torque detection module is arranged on a traction motor of the rail car; for detecting an output torque of the traction motor; the positioning device is arranged on the rail car and used for acquiring the current road section information of the rail car; the controller is connected with the weight detection device, the output torque detection module and the positioning device, and is used for acquiring weight information detected by the weight detection device and current road section information detected by the positioning device and starting the traction motor in a constant acceleration mode according to the weight information and the current road section information; the controller is further used for obtaining the output torque of the traction motor detected by the output torque detection module, analyzing whether the output torque of the traction motor in a preset time period reaches a preset critical torque or not, and if the output torque of the traction motor in the preset time period does not reach the critical torque, the controller controls the traction motor to stop accelerating.
Further, the anti-skid and anti-idle-running system further comprises: a wireless communication device disposed on the railcar; the controller is further used for acquiring the control scheme corresponding to each railcar on the current transportation route of the railcar through the wireless communication device, and updating the control model of each railcar according to the control scheme.
Further, the output torque detection module includes a processing device; the current detection device is connected with the processing device; the rotating speed detection device is connected with the processing device; the processing device is used for acquiring current information detected by the current detection device and rotating speed information detected by the rotating speed detection device, and calculating the output torque of the traction motor according to the current information and the rotating speed information.
The beneficial effect that this application can realize is: setting the driving acceleration and critical torque of the rail car on each road section according to the weight of the rail car and the transportation route of the rail car; acquiring the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information of the rail car in the transportation process; then starting a traction motor of the rail car according to the acquired driving acceleration; analyzing whether the output torque of the traction motor in a preset time period reaches a critical torque or not; when the output torque of the traction motor does not reach the critical torque within the preset time period, the traction motor stops accelerating, and the phenomena of sliding, idling and the like between the steel wheel of the rail car and the steel rail of the transportation route are better prevented.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of an anti-skid and anti-idle-running method of a traction system according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a topology structure of an anti-skid and anti-idle running system of a traction system according to an embodiment of the present application.
Icon: 10-anti-skid anti-idle system; 100-a rail car; 110-a controller; 120-output torque detection module; 121-a processing device; 122-current detection means; 123-rotating speed detection device; 130-a weight detection device; 140-a traction motor; 150-a wireless communication device; 160-positioning means.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic flow chart of an anti-skid and anti-idle-rotation method of a traction system according to an embodiment of the present application.
In order to better prevent the steel wheels of the rail car and the steel rails of the transportation route from sliding or idling, the embodiment of the application provides an anti-sliding and anti-idling method of a traction system, and the specific content is as follows.
Step S101, acquiring weight information of a rail car and current road section information of the rail car.
In one embodiment, the weight information of the rail car may be obtained by weighing the rail car at the time of loading, then setting a corresponding bar code, two-dimensional code or RFID tag on the rail car, and setting a corresponding reading device on the rail car. For example, when a bar code or a two-dimensional code is used, a corresponding scanning camera may be provided on the railcar to read the weight information of the railcar. When the RFID tag is used, a corresponding RFID reader-writer is arranged on the rail car to read the weight information of the rail car.
It should be noted that a weighing device (e.g., a load cell) may be disposed on the railcar mount to detect weight information of the railcar.
An electronic map can be set on the rail car, and the current road information of the rail car can be acquired by setting a positioning device, such as a GPS positioning module. The current road section information of the rail cars can also be acquired by setting beacons on the transportation route and then setting beacon reading devices on each rail car.
And S102, acquiring the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information.
The rail car is provided with a controller, and the controller can acquire the driving acceleration and the preset critical torque of the rail car on the road section according to the information after acquiring the weight information and the current road section information of the rail car.
Specifically, in one embodiment, information such as driving acceleration and critical torque of each road section of the transportation route under various weight conditions of the rail car can be set in the Excel table, and a controller on the rail car calls corresponding information such as driving acceleration and critical torque from the Excel table according to the acquired weight information and current road section information during operation.
In another embodiment, the road condition information of the transportation route where the rail car is located and the weight information of the rail car can also be obtained from the Excel table. The road condition information comprises a straight road section, a climbing road section, a downhill road section, a curve road section, a turnout road section and the like on the transportation route. And then establishing a control scheme of the rail vehicle at each road section under various weight conditions according to the road condition information and the weight information, and then establishing a corresponding control model according to the control scheme. In the transportation process, the controller on the rail car calls corresponding information such as driving acceleration and preset critical torque from the control model according to the weight of the controller and the current road section.
In the actual transportation process, the weights of the railcars may be different, so that the railcars can also acquire the control schemes corresponding to the railcars on the current transportation route, and then update the control models of the railcars according to the control schemes.
And step S103, starting a traction motor of the rail car in a constant acceleration mode according to the driving acceleration.
And after the controller on the rail car obtains the driving acceleration of the corresponding road section under the current load condition, starting the traction motor of the rail car in a constant acceleration mode according to the driving acceleration.
And step S104, analyzing whether the output torque of the traction motor in a preset time period reaches the critical torque or not.
An output torque detection device can be arranged on a traction motor of the rail car to detect the output torque of the traction motor. And analyzing whether the output torque of the traction motor in a preset time period reaches a critical torque.
In one embodiment, a rotation speed detection device (motor rotation speed measurement sensor) and a current detection device (current sensor) may be provided on the traction motor, and then the corresponding output torque may be calculated based on the detected rotation speed and current. Can be specifically according to the formula
Wherein T represents torque; n represents the rotation speed per minute; p ═ UI, denotes power, in units of w. The critical torque can be obtained according to data in a simulation experiment or an experimental line.
And step S105, if the output torque of the traction motor in a preset time period does not reach the critical torque, stopping accelerating the traction motor.
If the output torque of the traction motor in the preset time period does not reach the set critical torque, idling or slipping can occur between the steel wheel and the steel rail of the rail car, and the traction motor stops accelerating.
In one embodiment, the preset time period may be set to 2s, and the traction motor stops accelerating when the output torque of the traction motor does not reach the critical torque within 2 s. It should be noted that the preset time period may also be adjusted according to the actual operation parameters of the traction motor, and is not limited to be set to 2 s.
In order to better prevent the steel wheels of the rail car from slipping and idling in the transportation process, when the output torque of the traction motor in a preset time period does not reach the critical torque, the running speed of the rail car can be reduced according to a preset speed reduction scheme. In one embodiment, the driving acceleration of the traction motor may be reduced to zero, and then the traction motor is restarted according to the driving acceleration of the road segment under the corresponding weight, and the process is repeated until the output torque of the traction motor reaches the corresponding critical torque.
In the actual transportation process, the rail car needs to change the lane, and the controller can acquire the change information of the current transportation route when changing the lane and then adjust the control scheme of the traction motor according to the change information.
In one embodiment, a communication link may be established between the controller of the rail car and the switch controller; for example, wireless communication modules (such as 4G communication modules, 5G communication modules, etc.) are arranged on a controller of the rail car and a turnout controller to establish communication connection between the two. And after the transportation route is changed, the controller on the rail car calls and executes the control scheme corresponding to each road section on the changed transportation route.
In order to conveniently and efficiently control the rail car, the control scheme of the rail car on each road section on the corresponding transportation route can be recorded, and then the control scheme in the transportation process for multiple times is analyzed to obtain the optimal control scheme of the rail car on each road section of the transportation route.
Please refer to fig. 2, fig. 2 is a schematic view of a topology structure of an anti-skid and anti-idle rotation system of a traction system according to an embodiment of the present application.
The anti-skid and anti-idle system 10 provided by the present application includes a weight detecting device 130 provided on a railcar 100; for detecting weight information of the railcar 100; an output torque detection module 120 disposed on a traction motor 140 of the rail car 100; for detecting the output torque of the traction motor 140; the positioning device 160 is arranged on the railcar 100 and used for acquiring current road section information of the railcar 100; the controller 110 is connected to the weight detection device 130, the output torque detection module 120 and the positioning device 160, and is configured to acquire weight information detected by the weight detection device 130 and current road section information detected by the positioning device 160, and start the traction motor 140 at a constant acceleration according to the weight information and the current road section information; the controller 110 is further configured to obtain the output torque of the traction motor 140 detected by the output torque detection module 120, analyze whether the output torque of the traction motor 140 in a preset time period reaches a preset critical torque, and if the output torque of the traction motor 140 in the preset time period does not reach the critical torque, the controller 110 controls the traction motor 140 to stop accelerating.
In one embodiment, the controller 110 may be implemented as a single chip microcomputer (e.g., STM32 single chip microcomputer), an Intel processing chip, or the like. The weight detecting device 130 may be a load cell. The positioning device 160 may be a GPS positioning module; the output torque detection module 120 includes a processing device 121 (a single chip microcomputer, an FPGA processor, etc. may be selected); a current detection device 122 (current sensor) connected to the processing device 121; a rotation speed detection device 123 (motor rotation speed sensor) connected to the processing device 121; the processing device 121 is configured to obtain the current information detected by the current detecting device 122 and the rotation speed information detected by the rotation speed detecting device 123, and calculate the output torque of the traction motor 140 according to the current information and the rotation speed information.
In order to facilitate communication between the tracks on the transportation route, a wireless communication device 150 (e.g., a 4G communication module, a 5G communication module, etc.) may be further disposed on each railcar 100; the controller 110 on each railcar 100 establishes a communication connection with each railcar 100 on the transportation route through the wireless communication device 150 to perform data interaction, so as to acquire information such as positions and control schemes of other railcars 100 on the transportation route, so as to perfect or adjust the control scheme of the controller.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. An anti-slip anti-spinning method of a traction system, comprising:
acquiring weight information of a rail car and current road section information of the rail car;
acquiring the driving acceleration and the preset critical torque of the rail car according to the weight information and the current road section information;
starting a traction motor of the rail car in a constant acceleration mode according to the driving acceleration;
analyzing whether the output torque of the traction motor in a preset time period reaches the critical torque or not;
and if the output torque of the traction motor in a preset time period does not reach the critical torque, stopping accelerating the traction motor.
2. The method of claim 1, further comprising: and analyzing the control scheme of the traction motor on each road section in multiple transportation processes, and analyzing the optimal control scheme of the traction motor on each road section according to the control scheme.
3. The method of claim 1, further comprising:
acquiring the change information of the current transportation route of the rail car;
and adjusting the control scheme of the traction motor according to the change information.
4. The method of claim 1, wherein the step of stopping the traction motor from accelerating if the output torque of the traction motor does not reach the threshold torque within a preset time period further comprises:
and if the output torque of the traction motor in a preset time period does not reach the critical torque, stopping accelerating the traction motor and reducing the running speed of the rail car according to a preset speed reduction scheme.
5. The method according to claim 4, wherein the step of obtaining the driving acceleration and the preset critical torque of the railcar according to the weight information and the current section information comprises:
acquiring a corresponding control model according to the current road section information;
and calling the driving acceleration and the preset critical torque of the rail car from the control model according to the weight information.
6. The method of claim 5, further comprising:
acquiring road condition information of a transportation route where the rail car is located and weight information of the rail car;
establishing a control scheme corresponding to each road section of the rail vehicle according to the road condition information and the weight information;
and establishing a control model of the rail car on the transportation route according to the control scheme.
7. The method of claim 5, further comprising:
acquiring a control scheme corresponding to each rail car on the current transportation route;
and updating the control model of each railcar according to the control scheme.
8. An anti-skid anti-idle system of a traction system, comprising:
a weight detecting device arranged on the rail car; the weight information of the rail car is detected;
the output torque detection module is arranged on a traction motor of the rail car; for detecting an output torque of the traction motor;
the positioning device is arranged on the rail car and used for acquiring the current road section information of the rail car;
the controller is connected with the weight detection device, the output torque detection module and the positioning device, and is used for acquiring weight information detected by the weight detection device and current road section information detected by the positioning device and starting the traction motor in a constant acceleration mode according to the weight information and the current road section information;
the controller is further used for obtaining the output torque of the traction motor detected by the output torque detection module, analyzing whether the output torque of the traction motor in a preset time period reaches a preset critical torque or not, and if the output torque of the traction motor in the preset time period does not reach the critical torque, the controller controls the traction motor to stop accelerating.
9. The anti-skid anti-idle system of claim 8, further comprising: a wireless communication device disposed on the railcar; the controller is further used for acquiring the control scheme corresponding to each railcar on the current transportation route of the railcar through the wireless communication device, and updating the control model of each railcar according to the control scheme.
10. The anti-skid anti-idle system of claim 8, wherein said output torque detection module comprises a processing device; the current detection device is connected with the processing device; the rotating speed detection device is connected with the processing device; the processing device is used for acquiring current information detected by the current detection device and rotating speed information detected by the rotating speed detection device, and calculating the output torque of the traction motor according to the current information and the rotating speed information.
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| CN202010812657.3A CN112092644B (en) | 2020-08-13 | 2020-08-13 | Anti-skid and anti-idle-rotation method and system for traction system |
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| CN202010812657.3A CN112092644B (en) | 2020-08-13 | 2020-08-13 | Anti-skid and anti-idle-rotation method and system for traction system |
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| CN112092644B true CN112092644B (en) | 2022-01-25 |
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| DE19704153A1 (en) * | 1997-02-04 | 1998-08-06 | Isad Electronic Sys Gmbh & Co | Drive system, in particular for a motor vehicle and method for counteracting a change in the idle speed in a drive system |
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| CN103303158A (en) * | 2012-03-08 | 2013-09-18 | 株式会社日立制作所 | Control device for electric rolling stock |
| CN105015561A (en) * | 2015-07-21 | 2015-11-04 | 株洲南车时代电气股份有限公司 | Adhesion control system for motor train unit |
| CN110641288A (en) * | 2018-06-26 | 2020-01-03 | 中车株洲电力机车研究所有限公司 | Traction anti-skid control method for electric automobile |
| CN110733354A (en) * | 2018-07-18 | 2020-01-31 | 长城汽车股份有限公司 | electric automobile torque control method and device and vehicle |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19704153A1 (en) * | 1997-02-04 | 1998-08-06 | Isad Electronic Sys Gmbh & Co | Drive system, in particular for a motor vehicle and method for counteracting a change in the idle speed in a drive system |
| AU2004237787A1 (en) * | 2003-12-16 | 2005-06-30 | Hitachi, Ltd. | Control apparatus of electric vehicle, control apparatus of vehicle, and vehicle |
| CN103303158A (en) * | 2012-03-08 | 2013-09-18 | 株式会社日立制作所 | Control device for electric rolling stock |
| CN105015561A (en) * | 2015-07-21 | 2015-11-04 | 株洲南车时代电气股份有限公司 | Adhesion control system for motor train unit |
| CN110641288A (en) * | 2018-06-26 | 2020-01-03 | 中车株洲电力机车研究所有限公司 | Traction anti-skid control method for electric automobile |
| CN110733354A (en) * | 2018-07-18 | 2020-01-31 | 长城汽车股份有限公司 | electric automobile torque control method and device and vehicle |
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| CN112092644A (en) | 2020-12-18 |
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