CN112632727A - Traction converter with automatic moving shaft wheel diameter correction function - Google Patents
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Abstract
The invention relates to a motor car wheel diameter self-correcting technology, in particular to a traction converter with a function of automatically correcting the diameter of a moving axle. The technical problems that the conventional motor car traction converter does not have a wheel diameter automatic correction function, and cannot know that the wheel diameter is poor in real time, so that the service life of a motor is prolonged and the anti-skid and anti-idle-running functions of a vehicle are influenced are solved. Under the condition that no additional equipment and an external signal line are added, the diameter of a moving shaft wheel is calculated according to TCU (train control unit) interaction signals of the motor train unit and the converter, and under the condition that a train is in an idle running state, the diameter of the moving shaft wheel is calculated by the traction converter through a moving shaft speed sensor, a towing shaft speed sensor and a reference speed issued by an MVB (mechanical vapor bus); and during the normal running of the motor train unit, in order to ensure the wheel diameter accuracy of calculation, the wheel diameter is corrected for multiple times under the conditions of the coasting working condition and different speed grades, and the corrected value is stored in the TCU.
Description
Technical Field
The invention relates to a motor car wheel diameter self-correcting technology, in particular to a traction converter with a function of automatically correcting the diameter of a moving axle.
Background
The alternating current transmission system mainly adopts an alternating current-direct current-alternating current transmission mode and pulls a four-quadrant pulse rectifier in the converter to realize the conversion of a power supply from alternating current to direct current. The intermediate direct current loop realizes the conversion from direct current to three-phase alternating current through a traction inverter and outputs and controls a traction motor.
Generally, a traction system has two modes of vehicle control (1 inverter drives four motors) and overhead, and a traction converter realizes a vehicle traction function through power distribution of each motor. The traction converter realizes anti-skid and anti-idle control through the speed difference of the moving shaft and the dragging shaft.
For the overhead system (shown in fig. 1), each converter includes two inverters, and each inverter controls two traction motors in parallel. In the long-term running process of the motor train unit, the wheel diameters of the driving wheels are abraded to different degrees, wheel diameter differences can be generated among different wheels due to the abrasion, load distribution among parallel motors is uneven due to the wheel diameter differences, and the service life and running safety of the motors are influenced due to the fact that some motors can work in an overload state for a long time. When the wheel diameter difference is overlarge, the fault of the anti-skid and anti-idle running of the converter can be caused by false alarm in the high-speed running process.
However, the currently used traction converter does not have a wheel diameter automatic correction function, and the diameter of a moving shaft and a dragging shaft wheel used in the converter control process is an input value of an HMI screen after each spin.
The motor train can cause wheel wear in the operation process, and the input value after spin has the deviation with the wheel footpath value in the actual operation, leads to current design to have following shortcoming:
1) the wheel diameter difference can be caused by the circumferential abrasion of the tread in the running process of the vehicle, the power distribution of the motor can be influenced by the wheel diameter difference, and the service life of the working motor under the long-term overload state is influenced;
2) the presence of the wheel diameter difference can affect the anti-skid and anti-idle rotation functions of the vehicle.
Disclosure of Invention
The invention provides a traction converter with a function of automatically correcting a moving axle wheel diameter, which aims to solve the technical problems that the service life of a motor and the anti-skid and anti-idle rotation functions of a vehicle are influenced because the conventional motor car traction converter does not have a function of automatically correcting the wheel diameter and cannot know the wheel diameter difference in real time.
The invention is realized by adopting the following technical scheme: a traction converter with a function of automatically correcting the diameter of a moving axle wheel is characterized in that a control system TCU of the traction converter calculates and corrects the diameter of the wheel through an automatic wheel diameter correction strategy; the wheel diameter automatic correction strategy comprises the following steps:
wheel diameter correction method
(1) Under the condition that the motor train is in an idle running state, the TCU of each traction converter collects the fluted disc frequency of a moving shaft speed sensor on each traction motor controlled by the TCU, calculates the angular speed of each motor shaft by combining the number of the fluted discs of the traction motors, and further obtains the angular speed of each moving shaft through the transmission ratio of the motor shaft to the moving shaft; (2) the TCU of each traction converter receives the fluted disc frequency of the trailing axle recorded by a speed sensor on one of the trailing axles on the motor car, and the tooth number of the fluted disc of the trailing axle is combined to obtain the angular speed of the trailing axle; (3) calculating to obtain a relatively accurate reference vehicle speed through the wheel diameter value of the known towing shaft and the towing shaft angular speed, or using a network system comprehensive reference vehicle speed sent by the TCMS as the reference vehicle speed; under the idle running condition of the train, the linear speeds of wheel shafts of wheels of the motor train unit are equal, so that the reference speed is taken as the linear speeds of a moving shaft and a trailing shaft; since the angular velocity is inversely proportional to the wheel diameter value, the wheel diameter value of each moving axis is calculated by referring to the vehicle speed and the angular velocity of each moving axis.
The wheel diameter automatic correction strategy further comprises:
two-time and multi-time wheel diameter detection correction method
(1) When the motor train unit is in coasting and has the speed more than or equal to 10km/h and less than or equal to 30km/h, the TCU calculates the current wheel diameter value of each moving shaft for 1 time according to the wheel diameter correction method in the step one, and simultaneously reads the stored wheel diameter correction value and calculates the current wheel diameter weighted average value through a wheel diameter value correction weighted average algorithm; (2) when the speed of the motor train unit rises to the range of 30km/h to 40km/h and is in an idle working condition, the TCU calculates the current wheel diameter value of each moving shaft for the 2 nd time by adopting the wheel diameter correction method of the step one, and calculates the current wheel diameter weighted average value by using the current wheel diameter weighted average value obtained by the last calculation as the wheel diameter correction value of the current time through a wheel diameter value correction weighted average algorithm; (3) when the vehicle speed exceeds 110km/h coasting, calculating by adopting a wheel diameter value correction weighted average algorithm at certain intervals, and continuously obtaining a new current wheel diameter weighted average value of each moving axis; (4) when the motor train unit runs to the speed of 280km/h or above, under the traction working condition, the difference value between the speed of a moving axis and the speed of a trailing axis is lower than 3 km/h, the new current wheel diameter weighted average value is not calculated any more, and the current wheel diameter weighted average value obtained by the last calculation is stored; if the difference between the moving axis speed and the dragging axis speed is not lower than 3 km/h under the traction working condition, continuously calculating the current wheel diameter weighted average value under the coasting working condition according to the wheel diameter value correction weighted average algorithm, and storing the current wheel diameter weighted average value;
the wheel diameter value correction weighted average algorithm is calculated according to the following formula:
an+1=0.3an+0.7bn+1+（-1.75x2+4.85x-2.48）|an-bn+1if bn+1＜an，x=bn+1/an；
an+1=0.3an+0.7bn+1-（-1.75x2+4.85x-2.48）|an-bn+1If bn+1＞an，x=bn+1/an；
For step (1), wherein anThe wheel diameter correction value is stored in the TCU, and the other steps are the current wheel diameter weighted average value calculated under the last coasting working condition;
bn+1calculating a wheel diameter value under the current speed coasting working condition by adopting the method of the step one; a isn+1The weighted average value of the correction wheel diameter value obtained by the calculation is obtained, and x is a current wheel diameter correction coefficient;
the linear speed of the moving shaft is obtained by calculating the weighted average value of the angular speed of the moving shaft indirectly obtained by the moving shaft speed sensor and the current wheel diameter of the moving shaft obtained by the last calculation; the speed of the trailing axle is calculated through the known wheel diameter value of the trailing axle and the angular speed of the trailing axle collected by the trailing axle speed sensor.
Under the condition that no additional equipment and an external signal line are added, the diameter of a moving axle wheel is calculated according to interactive signals of a motor train unit and a converter TCU, and under the condition that a train is in a coasting state, a traction converter calculates the diameter of the moving axle wheel through a reference speed issued by a moving axle speed sensor, a towing axle speed sensor and an MVB; and during the normal running of the motor train unit, in order to ensure the wheel diameter accuracy of calculation, the wheel diameter is corrected for multiple times under the conditions of the coasting working condition and different speed grades, and the corrected value is stored in the TCU.
Further, the stored wheel diameter value is read in the step two (1), and is the wheel diameter value of the movable shaft which is calculated and finally stored when the motor car runs last time.
Further, the wheel diameter setting value is limited between the new wheel 920mm and the full worn wheel 850mm, and if the wheel diameter value calculated in each step is not in the above range, the calculation result is considered invalid. Because the limit value of the wheel of the motor train is between 920mm and 850mm, the calculated value is wrongly input beyond the range, the calculation process is problematic, and the calculation result is not adopted.
The technical scheme of the invention has the following beneficial effects:
1) compared with the original scheme, the wheel diameter correction function is added, the difference between the calculated wheel diameter and the real wheel diameter can be accurately within 0.6mm, the influence of the wheel diameter difference on the power distribution of the motor is reduced, and the service life of the motor is prolonged;
2) and false alarm of antiskid and idle-run prevention faults is reduced, and the fault rate of the whole vehicle is reduced.
According to the invention, the actual value of each wheel diameter of the moving shaft of the motor train unit is obtained through a wheel diameter correction strategy, and the problems of uneven power distribution of a traction motor, skid resistance, idle running prevention, misinformation and the like of the motor train unit caused by the deviation of the actual wheel diameter and the wheel diameter used in a control algorithm are solved.
Drawings
Fig. 1 shows an electrical schematic diagram of a traction converter according to the invention.
FIG. 2 is a schematic flow chart of a wheel diameter correction method.
FIG. 3 is a schematic view of a multi-detection wheel diameter correction process.
Detailed Description
A traction converter with a function of automatically correcting the diameter of a moving axle wheel is characterized in that a control system TCU of the traction converter calculates and corrects the diameter of the wheel through an automatic wheel diameter correction strategy; the wheel diameter automatic correction strategy comprises the following steps:
wheel diameter correction method
(1) Under the condition that the motor train is in an idle running state, the TCU of each traction converter collects the fluted disc frequency of a moving shaft speed sensor on each traction motor controlled by the TCU, calculates the angular speed of each motor shaft by combining the number of the fluted discs of the traction motors, and further obtains the angular speed of each moving shaft through the transmission ratio of the motor shaft to the moving shaft; (2) the TCU of each traction converter receives the fluted disc frequency of the trailing axle recorded by a speed sensor on one of the trailing axles on the motor car, and the tooth number of the fluted disc of the trailing axle is combined to obtain the angular speed of the trailing axle; (3) calculating to obtain a relatively accurate reference vehicle speed through the wheel diameter value of the known towing shaft and the towing shaft angular speed, or using a network system comprehensive reference vehicle speed sent by the TCMS as the reference vehicle speed; under the idle running condition of the train, the linear speeds of wheel shafts of wheels of the motor train unit are equal, so that the reference speed is taken as the linear speeds of a moving shaft and a trailing shaft; since the angular velocity is inversely proportional to the wheel diameter value, the wheel diameter value of each moving axis is calculated by referring to the vehicle speed and the angular velocity of each moving axis.
Two-time and multi-time wheel diameter detection correction method
(1) When the motor train unit is in coasting and has the speed more than or equal to 10km/h and less than or equal to 30km/h, the TCU calculates the current wheel diameter value of each moving shaft for 1 time according to the wheel diameter correction method in the step one, and simultaneously reads the stored wheel diameter correction value and calculates the current wheel diameter weighted average value through a wheel diameter value correction weighted average algorithm; (2) when the speed of the motor train unit rises to the range of 30km/h to 40km/h and is in an idle working condition, the TCU calculates the current wheel diameter value of each moving shaft for the 2 nd time by adopting the wheel diameter correction method of the step one, and calculates the current wheel diameter weighted average value by using the current wheel diameter weighted average value obtained by the last calculation as the wheel diameter correction value of the current time through a wheel diameter value correction weighted average algorithm; (3) when the vehicle speed exceeds 110km/h coasting, calculating by adopting a wheel diameter value correction weighted average algorithm at certain intervals, and continuously obtaining a new current wheel diameter weighted average value of each moving axis; (4) when the motor train unit runs to the speed of 280km/h or above, under the traction working condition, the difference value between the speed of a moving axis and the speed of a trailing axis is lower than 3 km/h, the new current wheel diameter weighted average value is not calculated any more, and the current wheel diameter weighted average value obtained by the last calculation is stored; if the difference between the moving axis speed and the dragging axis speed is not lower than 3 km/h under the traction working condition, continuously calculating the current wheel diameter weighted average value under the coasting working condition according to the wheel diameter value correction weighted average algorithm, and storing the current wheel diameter weighted average value;
the wheel diameter value correction weighted average algorithm is calculated according to the following formula:
an+1=0.3an+0.7bn+1+（-1.75x2+4.85x-2.48）|an-bn+1if bn+1＜an，x=bn+1/an；
an+1=0.3an+0.7bn+1-（-1.75x2+4.85x-2.48）|an-bn+1If bn+1＞an，x=bn+1/an；
For step (1), wherein anThe wheel diameter correction value is stored in the TCU, and the other steps are the current wheel diameter weighted average value calculated under the last coasting working condition;
bn+1calculating a wheel diameter value under the current speed coasting working condition by adopting the method of the step one; a isn+1The weighted average value of the correction wheel diameter value obtained by the calculation is obtained, and x is a current wheel diameter correction coefficient; the absolute value sign and the bracket are multiplied;
for example, in step (1), anThe wheel diameter correction value stored for the TCU, typically the last wheel diameter value stored after the last motor vehicle operation, bn+1When the motor train unit is in coasting and has the speed of more than or equal to 10km/h and less than or equal to 30km/h, a moving shaft wheel diameter value calculated by the method in the step one is calculated by a formula to obtain an+1That is, the speed of the motor train unit is more than or equal to 10km/h and less than or equal to 30km/hA positive wheel diameter value weighted average; for step (2), anNamely a calculated in the step (1)n+1，bn+1When the motor train unit is at a speed of 30km/h to 40km/h and coasting, the wheel diameter value of the movable shaft calculated by the method in the step one is adopted, and then a new a is obtained by calculation through a formulan+1(ii) a And so on. The above calculations are performed independently for each moving axis.
The linear speed of the moving shaft is obtained by calculating the weighted average value of the angular speed of the moving shaft indirectly obtained by the moving shaft speed sensor and the current wheel diameter of the moving shaft obtained by the last calculation; the speed of the trailing axle is calculated through the known wheel diameter value of the trailing axle and the angular speed of the trailing axle collected by the trailing axle speed sensor.
The known spin value in the first step (3) and the second step (4) is the spin value after spin.
The wheel diameter value of the towing shaft, which is known in the first step (3) and the second step (4), is a wheel diameter value of the towing shaft calculated by combining the angular speed of the towing shaft and the network system comprehensive reference vehicle speed (through MUB communication) sent by TCMS; or the average value of the calculated wheel diameter value of the dragging shaft and the wheel diameter value of the dragging shaft which is spin-spun once.
And step two (1) reading the stored wheel diameter value, namely the wheel diameter value of the movable shaft calculated and finally stored when the motor car operates last time.
The wheel diameter set value is limited between the new wheel 920mm and the full abrasion wheel 850mm, and if the wheel diameter value calculated in each step is not in the range, the calculation result is considered invalid.
And step two (3) when the vehicle speed is between 110km/h and 280km/h, when the vehicle speed increases or decreases by 10km/h, the TCU calculates the current wheel diameter weighted average value once through a wheel diameter value correction weighted average algorithm during coasting, so that the updating frequency and the accuracy of the calculation result can be ensured, and the method is more suitable for the actual situation.
According to the invention, under the condition that no additional equipment or external signal lines are added, the moving axle wheel diameter is calculated according to the interactive signals of the motor train unit and the converter TCU, under the condition that the train is in an idle running state, the traction converter calculates the moving axle wheel diameter according to the correlation between the moving axle linear speed and the traction axle linear speed, and in order to ensure the calculated wheel diameter precision, the wheel diameter calculation value is required to be calculated for multiple times at different speed points, and is stored in the converter TCU.
The inventive solution thus comprises two parts: firstly, calculating the diameter of a moving axle wheel through a motor axle, a towing axle speed sensor and a reference vehicle speed issued by an MVB; and during the normal operation of the second motor train unit, performing wheel diameter correction under the conditions of the coasting working condition and different speed grades, and storing the correction value in the TCU.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
The multiple wheel diameter correction function of the converter is implemented as follows:
(1) wheel diameter correction
The wheel diameter related variables received by the traction converter TCU (control unit) are a moving shaft speed sensor signal (obtaining the angular speed of a motor shaft), a trailing axle speed sensor signal, a trailing axle wheel diameter value and a reference vehicle speed. Under the condition that a train runs down, the linear speeds of wheel shafts of wheels of a motor train unit are equal, the angular speed is inversely proportional to the wheel diameter value, the frequency of a motor fluted disc and the frequency of a trailing axle fluted disc are collected through a speed sensor, the angular speed of each shaft is obtained through indirect calculation, a relatively accurate reference speed is obtained through calculation of the wheel diameter value (TCMS sent to a traction system) of the trailing axle and the angular speed, or the train speed sent by the TCMS is used as the reference speed, and the more accurate wheel diameter value of each moving axle is obtained through indirect calculation of the reference speed and the angular speed of a motor shaft.
(2) Multiple correction of wheel diameter
In order to ensure the accuracy of wheel diameter correction, the accuracy of the calculated value of the moving axle wheel diameter is ensured by a mode of calculating and averaging for multiple times under different speed grades and a mode of adopting a new value and using a weight, and the calculated value of the wheel diameter is also ensured not to be changed violently. The wheel diameter setting is limited to be between 920mm of the new wheel and 850mm of the full abrasion wheel, and the calculated value is guaranteed to be effective.
Under the coasting condition, the speed of the motor train unit is more than or equal to 10km/h and less than or equal to 30km/h, and the TCU calculates the wheel diameter value of the moving shaft for 1 time according to the wheel diameter value correction weighted average algorithm; when the speed of the motor train unit rises to an interval of 30km/h to 40km/h, the TCU corrects the diameter value of the moving axle wheel for the 2 nd time; when the vehicle speed exceeds 100km/h, the wheel diameter calculation is repeated, and the calculation value of the wheel diameter of the moving shaft is accumulated and corrected. When the motor train unit runs to the speed of 280km/h and the difference value between the linear speed of the moving shaft and the speed of the trailing axis is lower than 3 km/h, the wheel diameter correction is not carried out.
Claims (10)
1. A traction converter with a function of automatically correcting the diameter of a moving axle wheel is characterized in that a control system TCU of the traction converter calculates and corrects the diameter of the wheel through an automatic wheel diameter correction strategy; the wheel diameter automatic correction strategy comprises the following steps:
wheel diameter correction method
(1) Under the condition that the motor train is in an idle running state, the TCU of each traction converter collects the fluted disc frequency of a moving shaft speed sensor on each traction motor controlled by the TCU, calculates the angular speed of each motor shaft by combining the number of the fluted discs of the traction motors, and further obtains the angular speed of each moving shaft through the transmission ratio of the motor shaft to the moving shaft; (2) the TCU of each traction converter receives the fluted disc frequency of the trailing axle recorded by a speed sensor on one of the trailing axles on the motor car, and the tooth number of the fluted disc of the trailing axle is combined to obtain the angular speed of the trailing axle; (3) calculating to obtain a reference vehicle speed through the wheel diameter value of the known towing shaft and the towing shaft angular speed, or using a network system comprehensive reference vehicle speed sent by TCMS as the reference vehicle speed; under the idle running condition of the train, the linear speeds of wheel shafts of wheels of the motor train unit are equal, so that the reference speed is taken as the linear speeds of a moving shaft and a trailing shaft; since the angular velocity is inversely proportional to the wheel diameter value, the wheel diameter value of each moving axis is calculated by referring to the vehicle speed and the angular velocity of each moving axis.
2. The traction converter with automatic correction of the moving axle diameter according to claim 1, wherein the automatic wheel diameter correction strategy further comprises:
two-time and multi-time wheel diameter detection correction method
(1) When the motor train unit is in coasting and has the speed more than or equal to 10km/h and less than or equal to 30km/h, the TCU calculates the current wheel diameter value of each moving shaft for 1 time according to the wheel diameter correction method in the step one, and simultaneously reads the stored wheel diameter correction value and calculates the current wheel diameter weighted average value through a wheel diameter value correction weighted average algorithm; (2) when the speed of the motor train unit rises to the range of 30km/h to 40km/h and is in an idle working condition, the TCU calculates the current wheel diameter value of each moving shaft for the 2 nd time by adopting the wheel diameter correction method of the step one, and calculates the current wheel diameter weighted average value by using the current wheel diameter weighted average value obtained by the last calculation as the wheel diameter correction value of the current time through a wheel diameter value correction weighted average algorithm; (3) when the vehicle speed exceeds 110km/h coasting, calculating by adopting a wheel diameter value correction weighted average algorithm at certain intervals, and continuously obtaining a new current wheel diameter weighted average value of each moving axis; (4) when the motor train unit runs to the speed of 280km/h or above, under the traction working condition, the difference value between the speed of a moving axis and the speed of a trailing axis is lower than 3 km/h, the new current wheel diameter weighted average value is not calculated any more, and the current wheel diameter weighted average value obtained by the last calculation is stored; if the difference between the moving axis speed and the dragging axis speed is not lower than 3 km/h under the traction working condition, continuously calculating the current wheel diameter weighted average value under the coasting working condition according to the wheel diameter value correction weighted average algorithm, and storing the current wheel diameter weighted average value;
the wheel diameter value correction weighted average algorithm is calculated according to the following formula:
an+1=0.3an+0.7bn+1+（-1.75x2+4.85x-2.48）|an-bn+1if bn+1＜an，x=bn+1/an；
an+1=0.3an+0.7bn+1-（-1.75x2+4.85x-2.48）|an-bn+1If bn+1＞an，x=bn+1/an；
For step (1), wherein anThe wheel diameter correction value is stored in the TCU, and the other steps are the current wheel diameter weighted average value calculated under the last coasting working condition;
bn+1calculating a wheel diameter value under the current speed coasting working condition calculated by the method in the step one; a isn+1For this calculationObtaining a weighted average value of the correction wheel diameter values, wherein x is a current wheel diameter correction coefficient;
the linear speed of the moving shaft is obtained by calculating the weighted average value of the angular speed of the moving shaft indirectly obtained by the moving shaft speed sensor and the current wheel diameter of the moving shaft obtained by the last calculation; the speed of the trailing axle is calculated through the known wheel diameter value of the trailing axle and the angular speed of the trailing axle collected by the trailing axle speed sensor.
3. The traction converter with the automatic correcting function of the moving axle diameter according to claim 2, wherein the known value of the dragging axle diameter in the first step (3) and the second step (4) is the value of the dragging axle diameter which is once spin-spun.
4. The traction converter with the function of automatically correcting the moving axle wheel diameter according to claim 2, wherein the known value of the trailing axle wheel diameter in the first step (3) and the second step (4) is a calculated value of the trailing axle wheel diameter by combining the trailing axle angular velocity and the network system comprehensive reference vehicle speed sent by the TCMS, or an average value of the calculated value of the trailing axle wheel diameter and the value of the trailing axle wheel diameter after the last rotation.
5. A traction converter with automatic correction of the moving axle diameter according to claim 2, 3 or 4, characterized in that the stored wheel diameter value read in step two (1) is the moving axle wheel diameter value calculated and finally stored in the last running of the motor car.
6. A traction converter with automatic correction of the diameter of a moving axle according to any one of claims 1 to 4, characterized in that the wheel diameter setting value is limited between 920mm for a new wheel and 850mm for a full worn wheel, and if the wheel diameter value calculated in each step is not in the above range, the calculation result is considered invalid.
7. The traction converter with automatic correction function of the diameter of the moving axle according to claim 5, characterized in that the wheel diameter set value is limited between 920mm of new wheel and 850mm of full abrasion wheel, if the wheel diameter value calculated in each step is not in the above range, the calculation result is considered invalid.
8. The traction converter with automatic moving axle diameter correction function according to claim 2, 3 or 4, wherein in step two (3), when the vehicle speed is between 110km/h and 280km/h, the TCU calculates the weighted average value of the current axle diameter by the axle diameter value correction weighted average algorithm once every 10km/h increase or decrease of the vehicle speed when coasting.
9. The traction converter with automatic correction function of the moving axle diameter according to claim 5, wherein in the step two (3), when the vehicle speed is between 110km/h and 280km/h, the TCU calculates the weighted average value of the current axle diameter once when coasting by using the weighted average algorithm of the axle diameter value correction for every 10km/h increase or decrease of the vehicle speed.
10. The traction converter with automatic correction function of the moving axle diameter according to claim 7, wherein in the step two (3), when the vehicle speed is between 110km/h and 280km/h, the TCU calculates the weighted average value of the current axle diameter once when coasting by using the weighted average algorithm of the axle diameter value correction for every 10km/h increase or decrease of the vehicle speed.
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| CN112632727B (en) | 2023-04-04 |
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