CN113525322A - Anti-skid air charging or exhausting control method and terminal equipment - Google Patents
Anti-skid air charging or exhausting control method and terminal equipment Download PDFInfo
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- CN113525322A CN113525322A CN202010311280.3A CN202010311280A CN113525322A CN 113525322 A CN113525322 A CN 113525322A CN 202010311280 A CN202010311280 A CN 202010311280A CN 113525322 A CN113525322 A CN 113525322A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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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
- B61H11/06—Applications or arrangements of braking or retarding apparatus not otherwise provided for; Combinations of apparatus of different kinds or types of hydrostatic, hydrodynamic, or aerodynamic brakes
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Abstract
The invention is suitable for the technical field of braking force control, and provides an anti-skid air charging or exhausting control method and terminal equipment, wherein the method comprises the following steps: when the wheel set of the vehicle slides, the anti-skid control is carried out; if the antiskid control state is an air exhaust instruction, controlling a corresponding air exhaust timer to time and perform air exhaust treatment; if the timing number of the air exhaust timer is larger than the preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve; if the antiskid control state is an air charging instruction, controlling an air charging timer to time; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the corresponding timing number of the charging timer reaches the maximum charging time, closing the charging permission of the current antiskid control electromagnetic valve, thereby ensuring the braking control pressure required by the train in the sliding process and avoiding the sliding wheel pair from sliding again.
Description
Technical Field
The invention belongs to the technical field of braking force control, and particularly relates to an anti-skid air charging or exhausting control method and terminal equipment.
Background
During the running process of the train, the phenomenon of wheelset idling or sliding can be caused due to the change of the rail surface condition (for example, substances such as water, oil or leaves exist on the rail). At this time, the antiskid control is performed, and the wheels can be kept in the rolling state by reducing the braking force. The existing antiskid control strategy is mainly to compare and judge the acceleration/deceleration, acceleration/deceleration differentiation and creep speed of a wheel pair and send an antiskid control signal according to the judgment result, so that the pressure of a brake cylinder of a skidding wheel is rapidly reduced, and the braking force borne by the skidding wheel is rapidly reduced. After the antiskid system determines that the vehicle is coasting, the pressure of the brake cylinder is repeatedly reduced, maintained and increased, thereby maximally utilizing adhesion between the wheel rails and stopping the vehicle from coasting.
However, when the prior art is adopted for antiskid control, the situation that the braking force actually applied by the sliding wheel is larger than the braking force required by the braking command may occur, the phenomena of overlong braking distance and wheel wiping may occur, and the situation that the sliding working condition occurs after the sliding is finished may also occur.
Disclosure of Invention
In view of this, embodiments of the present invention provide an anti-skid charging or discharging control method and a terminal device, which aim to solve the problems in the prior art that the braking force actually applied by a wheel set is larger than the braking force required by a braking command, the braking distance is too long, and the wheel is wiped and sliding repeatedly occurs.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides an anti-skid charging or discharging control method, including: when the wheel set of the vehicle slides, the anti-skid control is carried out;
if the antiskid control state is an air exhaust instruction, controlling a corresponding air exhaust timer to time and perform air exhaust treatment; if the timing number of the air exhaust timer is larger than a preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve;
if the antiskid control state is an air charging instruction, controlling an air charging timer to time; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
As another embodiment of the present application, before the vehicle wheel set slips and performs anti-slip control, the method further includes:
and if the current braking instruction is detected and the braking force requirement included in the braking instruction does not fall, opening the permission of charging and exhausting air of the antiskid control electromagnetic valve, and otherwise, continuously detecting the sliding state of the vehicle.
As another embodiment of the present application, the controlling a corresponding exhaust timer to perform timing and exhaust processing includes:
if the stage air exhaust control is started for the first time, timing by using a stage air exhaust and pressure maintaining cumulative timer, and simultaneously performing stage air exhaust or pressure maintaining treatment;
if the continuous air exhaust control is started for the first time, a continuous air exhaust timer is adopted for timing and continuous air exhaust treatment is carried out;
if the timing number of the air exhaust timer is larger than the preset threshold value, the current air exhaust permission of the antiskid control electromagnetic valve is closed, and the method comprises the following steps:
and if the timing number corresponding to the stage air exhaust and pressure maintaining accumulative timer is greater than a first preset threshold value, or the timing number corresponding to the continuous air exhaust timer is greater than a second preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve.
As another embodiment of the present application, a control method employed in executing the phase air discharge control includes:
counting stage air exhaust times;
carrying out air exhaust treatment according to the counted stage air exhaust times and the maximum stage air exhaust times;
and performing air exhaust treatment according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
As another embodiment of the present application, the processing of exhausting according to the counted stage exhaust frequency and the maximum stage exhaust frequency includes:
detecting whether the air exhaust frequency of the current stage is equal to the maximum stage air exhaust frequency or not;
if the air exhaust frequency of the current stage is equal to the air exhaust frequency of the maximum stage, continuous air exhaust treatment is carried out, the continuous air exhaust time is the first time, and the air charging and exhausting control state is set to be pressure maintaining and output to the corresponding electromagnetic valve;
if the current stage air exhaust frequency is not equal to the maximum stage air exhaust frequency, air exhaust treatment is carried out according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
As another embodiment of the present application, the processing of exhausting air according to the timing number corresponding to the stage exhaust air and the pressure holding cumulative timer includes:
detecting whether the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer is greater than a second time, wherein the second time is the sum of the single-stage air exhaust and pressure maintaining time;
if the timing number corresponding to the current stage exhaust and pressure maintaining cumulative timer is greater than the second time, resetting the stage exhaust and pressure maintaining cumulative timer, assigning a value corresponding to the third time to the stage exhaust and pressure maintaining cumulative timer again, adding one to the stage exhaust frequency, and continuing to perform exhaust treatment; the third time is the time difference between the stage air exhaust time corresponding to the current air exhaust stage and the second time;
if the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is not more than the second time, detecting whether the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is more than a fourth time, wherein the fourth time is single-stage air exhaust time;
if the timing number corresponding to the current stage exhaust and pressure maintaining accumulative timer is larger than the fourth time, setting the air charging and exhausting control state as pressure maintaining and outputting the pressure maintaining to the corresponding electromagnetic valve;
if the corresponding timing number of the current stage exhaust and pressure maintaining accumulative timer is not more than the fourth time, the charging and exhausting control state is set as exhaust and output to the corresponding electromagnetic valve.
As another embodiment of the present application, the method further includes:
and if the antiskid control state is a pressure maintaining instruction, setting the air charging and exhausting control state as a pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve.
As another embodiment of the present application, the calculating the maximum charging time according to the total air exhausting time of the air exhausting timer when the sliding is successfully relieved includes:
acquiring an air exhaust rate and an air charging rate according to a flow meter arranged at an outlet of the air exhaust electromagnetic valve and a flow meter arranged at an outlet of the air charging electromagnetic valve;
calculating the total air exhaust amount according to the total air exhaust time of the air exhaust timer when the sliding releasing is successful and the air exhaust speed;
and calculating the maximum air charging time according to the total air discharge amount and the air charging rate.
As another embodiment of the present application, the performing of the air inflation processing includes:
detecting whether the current actual air charging amount is larger than the total air exhaust amount;
if the current actual air charging amount is larger than the total air exhaust amount, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the current actual air charging amount is not more than the total air exhaust amount, controlling the air charging timer to continue timing, and detecting whether the stage air charging times are equal to the maximum stage air charging times or not;
if the stage air charging times are equal to the maximum stage air charging times, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the stage air charging times are smaller than the maximum stage air charging times, detecting whether the current stage air charging time is longer than a fifth time, wherein the fifth time is the sum of the single-stage air charging time and the pressure maintaining time;
if the current stage air charging time is longer than the fifth time, resetting the air charging timer, assigning the sixth time to the air charging timer again, adding one to the stage air charging times, and continuing air charging processing; the sixth time is the time difference between the stage charging time corresponding to the current charging stage and the fifth time;
if the current stage air charging time is not more than the fifth time, detecting whether the current stage air charging time is more than a seventh time, wherein the seventh time is a single-stage air charging time;
if the current stage air charging time is longer than the seventh time, setting the air charging and discharging control state as the pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve;
if the current stage air charging time is not more than the seventh time, the air charging and discharging control state is set to be the air charging and is output to the corresponding electromagnetic valve
A second aspect of an embodiment of the present invention provides an anti-skid charging or discharging control device, including:
the control module is used for performing anti-skid control when the vehicle wheel set slides;
the air exhaust processing module is used for controlling a corresponding air exhaust timer to time and carry out air exhaust processing if the antiskid control state is an air exhaust instruction; if the timing number of the air exhaust timer is larger than a preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve;
the air charging processing module is used for controlling the air charging timer to time if the antiskid control state is an air charging instruction; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: compared with the prior art, the air charging and exhausting control is carried out according to the anti-skid control state when the vehicle wheel set slides, and the running function of the anti-skid system is determined according to the variation trend, so that the condition that the braking force actually applied by the sliding wheel set is larger than the braking force required by the braking instruction and the driving safety is influenced is avoided. The air charging amount in the air charging process is calculated and controlled according to the total air discharging time in the anti-skid control process, so that the braking control pressure required by the train is ensured, and the sliding wheel pair is prevented from sliding again.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a method for controlling anti-skid air charging or exhausting provided by an embodiment of the present invention;
FIG. 2 is a schematic flow chart of an exhaust process provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a phase venting process provided by an embodiment of the present invention;
FIG. 4 is a schematic flow diagram of an exhaust process according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a simulation model of exhaust and charging solenoid valves provided by an embodiment of the present invention;
FIG. 6 is a schematic flow chart of the process of performing the air charging according to the embodiment of the present invention;
FIG. 7 is a schematic illustration of a staged aeration process provided by an embodiment of the present invention;
FIG. 8 is a schematic view of an anti-skid charging or discharging device provided by an embodiment of the present invention;
fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Fig. 1 is a schematic flow chart of an implementation of the method for controlling anti-skid charging or discharging air according to the embodiment of the present invention, which is described in detail as follows.
And 101, when the wheel set of the vehicle slides, performing anti-skid control.
Optionally, before the vehicle wheel pair slips and the antiskid control is performed, the method may further include:
detecting whether the wheel pair of the vehicle slides or not; when the vehicle wheel pair slides, if the current braking instruction is detected and the braking force requirement included in the braking instruction is not reduced, the authority of charging and exhausting of the antiskid control electromagnetic valve is started, otherwise, the sliding state of the vehicle is continuously detected, and the specific electromagnetic valve control is not carried out.
Optionally, when detecting whether the vehicle wheel set slides, it may be comprehensively determined whether the vehicle wheel set slides according to the detected speed, deceleration and deceleration differential. When the sliding control is carried out, the anti-skid system can send three instruction information of air exhaust, pressure maintaining and air charging. When the antiskid control logic detects that the vehicle wheel pair slides, the antiskid system masters the air charging and discharging authority of the electromagnetic valve to perform air discharging, pressure maintaining or air charging control.
Optionally, when the antiskid control strategy judges that a certain shaft of the vehicle slides, when the braking force demand increases, and the air braking force of the other shafts is increased to meet the demand, the air braking force of the sliding shaft is considered to be unchanged, and the air braking force of the sliding shaft is not supplemented.
Optionally, controlling the corresponding exhaust timer to time and perform the exhaust treatment may include:
if the stage air exhaust control is started for the first time, timing by using a stage air exhaust and pressure maintaining cumulative timer, and performing stage air exhaust or pressure maintaining treatment at the same time;
if the continuous air exhaust control is started for the first time, a continuous air exhaust timer is adopted for timing and continuous air exhaust treatment is carried out.
If not, namely the stage air exhaust control is not entered for the first time, and the continuous air exhaust control is not entered for the first time, whether the timing number of the air exhaust timer is greater than a preset threshold value or not is detected, namely whether the timing number of the stage air exhaust and pressure holding cumulative timer is greater than the preset threshold value or not is detected, or whether the timing number of the continuous air exhaust timer is greater than the preset threshold value or not is detected, when the timing number of the stage air exhaust and pressure holding cumulative timer is greater than a first preset threshold value or the timing number of the continuous air exhaust timer is greater than a second preset threshold value, the antiskid logic is quitted, the electromagnetic valve air charging and exhausting control right is handed to air brake, namely the current antiskid control electromagnetic valve air exhaust right is closed, and the current working condition (common brake or emergency brake and the like) takes over the control right of the air charging and exhausting electromagnetic valve.
And when the timing number of the stage air exhaust and pressure maintaining cumulative timer is not more than a first preset threshold value or the timing number of the continuous air exhaust timer is not more than a second preset threshold value, entering a next execution period, namely, continuously executing and detecting whether a braking instruction exists currently and whether the braking force requirement included in the braking instruction is reduced.
Optionally, the first preset threshold may be 30 seconds, and the second preset threshold may be 5 seconds.
Optionally, the stage air exhaust and pressure maintaining cumulative timer is used for timing, and the stage air exhaust and pressure maintaining cumulative timer needs to be cleared at first and then the timing function is started. Similarly, when the continuous exhaust timer is used for timing, the continuous exhaust timer needs to be cleared first and then the timing function is started.
When the continuous air discharge timer is used for timing, the stage air discharge and the pressure holding cumulative timer are also used for timing and simultaneously performing the stage air discharge or the pressure holding treatment.
Optionally, the control method adopted in executing the stage air exhaust control may include the following steps: counting stage air exhaust times; carrying out air exhaust treatment according to the counted stage air exhaust times and the maximum stage air exhaust times; and performing air exhaust treatment according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
Optionally, the step of performing the air exhaust treatment according to the counted stage air exhaust frequency and the maximum stage air exhaust frequency may include the following steps. As shown in fig. 2.
Alternatively, a complete stage exhaust process may include a plurality of execution cycles, as shown in fig. 3, wherein N, N1 is the number of execution cycles, and N, N1 may take different values according to the degree of sliding. The determination process of the number of the line periods can be determined through simulation calculation and train operation tests. As shown in fig. 3, in the stage air exhaust process, each stage exhausts N execution cycles, maintains pressure for N1 execution cycles, exhausts 1s after 5 stages, maintains pressure, and exits from the antiskid control after the pressure maintaining reaches the time limit.
In this step, the maximum stage air discharge frequency is the maximum air discharge frequency in one execution cycle, for example, if the number of one execution cycle is 5, the maximum stage air discharge frequency is 5, and the current stage air discharge frequency may be any one of 1 to 4.
Alternatively, this step may refer to the 5 th exhaust stage of fig. 3, where the first time may be 1 second. And when the stage air exhaust frequency reaches the maximum stage air exhaust frequency, continuously exhausting air for 1 second, and setting the air charging and exhausting control state as the air exhaust output to the corresponding electromagnetic valve. The continuous exhaust time may be timed using a continuous exhaust timer.
And 203, if the current stage air exhaust frequency is not equal to the maximum stage air exhaust frequency, performing air exhaust treatment according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
Optionally, the step may be any one of the air exhaust stages 1 to 4, and at this time, the air exhaust process needs to be performed according to the timing number corresponding to the stage air exhaust and the pressure maintaining cumulative timer, which is specifically shown in fig. 4.
The exhaust processing is performed according to the timing number corresponding to the stage exhaust and pressure holding cumulative timer, and may include the following steps. As shown with reference to fig. 4.
Optionally, the 2 nd exhaust stage is taken as an example for detailed description. The second time may be the sum of the single stage exhaust and dwell times in stage 2.
Optionally, in this step, if the timing number corresponding to the pressure maintaining cumulative timer and the air exhaust in the current stage is greater than the second time, it indicates that one period of the current air exhaust stage is completed, and the air exhaust in the next period needs to be continued. It should be noted that the stage air exhaust time corresponding to the current air exhaust stage is the sum of all preset air exhaust and corresponding time in the pressure maintaining period of the current air exhaust stage.
Optionally, the 2 nd exhaust stage is taken as an example to describe in detail, and the fourth time is a time corresponding to the exhaust stage in the 2 nd exhaust stage.
And step 404, if the timing number corresponding to the current stage exhaust and pressure maintaining cumulative timer is greater than the fourth time, setting the air charging and exhausting control state as the pressure maintaining output to the corresponding electromagnetic valve.
Optionally, in this step, if the timing number corresponding to the current stage exhaust and pressure holding cumulative timer is greater than the fourth time, it indicates that the pressure holding stage should be started at this time.
And 405, if the corresponding timing number of the current stage exhaust and pressure maintaining cumulative timer is not more than the fourth time, setting the air charging and exhausting control state as exhaust air and outputting the exhaust air to the corresponding electromagnetic valve.
Optionally, in this step, if the timing number corresponding to the pressure maintaining cumulative timer and the stage exhaust at present is not greater than the fourth time, it indicates that the stage exhaust is still in the exhaust stage at this time.
Optionally, if the antiskid control state is a pressure maintaining instruction, the air charging and discharging control state is set to be a pressure maintaining state and output to the corresponding electromagnetic valve. The pressure maintaining control always follows the air exhaust control or the air charging control.
103, if the anti-skid control state is an air charging instruction, controlling an air charging timer to time; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
Optionally, before the charging timer is used for timing, the charging timer may be cleared first, and then timing is performed during charging.
Optionally, the inflation command is an antiskid control state where coasting has previously occurred and the antiskid system has alleviated successful and current need for inflation.
Optionally, in this step, when the maximum air charging time is calculated according to the total air discharging time of the air discharging timer when the relief sliding is successful, a simulation model of the air discharging and air charging solenoid valve shown in fig. 5 is built in AMESim simulation software, parameters such as pressure, temperature, solenoid valve drift diameter, peripheral environment and the like are set, a flow meter is arranged at an outlet of the air discharging solenoid valve, and a flow meter is arranged at an outlet of the air charging solenoid valve, and the flow meters are respectively used for calculating an air discharging rate and an air charging rate. Optionally, the air exhaust rate and the air charging rate are obtained according to a flow meter arranged at the outlet of the air exhaust solenoid valve and a flow meter arranged at the outlet of the air charging solenoid valve, so that the air exhaust rate and the air charging rate under different pressure working conditions can be obtained; calculating the total air exhaust amount according to the total air exhaust time of the air exhaust timer and the air exhaust rate when the sliding is successfully relieved, wherein the total air exhaust amount is the product of the total air exhaust time and the air exhaust rate; and calculating the maximum air charging time according to the total air discharge amount and the air charging rate.
Optionally, when the maximum air charging time is calculated, the air charging amount in the air charging process is limited to be smaller than or equal to the total air discharging amount, so that the braking control pressure required by the train and the safety of the train are ensured, and the sliding working condition is prevented from appearing repeatedly. When the corresponding counted time of the charging timer is the same as the maximum charging time, the anti-skid logic is quitted, the control right of the electromagnetic valve is given to the air brake, and otherwise, the next execution cycle is entered. Optionally, "quit the antiskid logic and give the air brake the control right of the electromagnetic valve", that is, the control right of closing the current antiskid control electromagnetic valve to charge air is taken over by the current working condition (service brake or emergency brake, etc.) to charge and exhaust the electromagnetic valve.
Optionally, in this step, the flow of performing the air inflation processing may include:
counting the current actual air charging amount and the stage air charging times;
carrying out air charging treatment according to the counted current actual air charging quantity and the counted total air exhaust quantity;
carrying out air charging treatment according to the counted stage air charging times and the maximum stage air charging times;
and performing air charging treatment according to the corresponding timing number of the air charging timer.
Optionally, as shown in fig. 6, performing the charging process according to the counted current actual charging amount and the total amount of discharged air may include the following steps:
And step 602, if the current actual air charging amount is larger than the total air exhaust amount, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control.
In order to ensure the braking control pressure required by the train and the safety of the train and avoid the repeated occurrence of sliding working conditions, when the current actual air charging amount is larger than the total air exhaust amount, the current air charging permission of the anti-skid control electromagnetic valve is closed, the anti-skid control is quitted, and a non-skid command is output.
And when the current actual air charging quantity is less than or equal to the total air exhaust quantity, carrying out air charging treatment according to the counted stage air charging times and the maximum stage air charging times. With continued reference to fig. 6.
And step 604, when the stage air charging times are equal to the maximum stage air charging times, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control.
And 605, when the stage air charging times are less than the maximum stage air charging times, detecting whether the current stage air charging time is greater than a fifth time, wherein the fifth time is the sum of the single-stage air charging time and the pressure maintaining time.
Optionally, when the stage charging frequency is smaller than the maximum stage charging frequency, the charging process is performed according to the timing number corresponding to the charging timer, and refer to fig. 6 continuously. The charge timer may be a stage charge dwell timer. As shown in the schematic diagram of phase charging control shown in fig. 7, fig. 7 shows a complete phase discharging process, which may include a plurality of execution cycles, where N2 and N3 are the number of execution cycles, and the values of N2 and N3 may be different according to different sliding degrees. The determination process of the number of the line periods can be determined through simulation calculation and train operation tests. As shown in fig. 7, in the stage inflation process, each stage is inflated N2 times, then pressure is maintained N3 times, and the antiskid control logic is exited after 5 stages are executed.
In this step, the maximum stage air charging frequency is the maximum air discharging frequency in an execution cycle, for example, if the number of an execution cycle is 5, the maximum stage air discharging frequency is 5, and the current stage air discharging frequency may be any one of 1 to 4.
The fifth time may be the sum of the time of the charging and dwell periods in any of the charging stages 1-4.
Optionally, in this step, if the charging time of the current stage is longer than the fifth time, it indicates that one cycle of the current charging stage is completed, and the exhaust of the next cycle needs to be continued. It should be noted that the stage charging time corresponding to the current charging stage is the sum of all charging times of the preset current charging stage and the corresponding time in the pressure maintaining period.
And 608, when the air charging time of the current stage is greater than the seventh time, setting the air charging and discharging control state as the pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve.
And if the current stage air charging time is longer than the seventh time, indicating that the pressure maintaining period of the current air charging stage needs to be entered.
And 609, if the air charging time of the current stage is not more than the seventh time, setting the air charging and discharging control state as air charging and outputting the air charging and discharging control state to a corresponding electromagnetic valve.
If the charging time of the current stage is not more than the seventh time, the charging period of the current charging stage is not finished, and the charging control is continued.
Optionally, in the air exhaust stage and the air charging stage, each execution cycle determines a change condition of the working condition, and the change condition may be divided into the following five conditions for control until the anti-skid control is exited:
(1) if the air is exhausted or the pressure is maintained, the air filling process is executed from the beginning;
(2) filling air or maintaining pressure for air exhaust, and performing stage air exhaust from head;
(3) if the air is filled, continuing to execute the stage air filling process;
(4) if the air exhaust is greater than the air exhaust, the stage air exhaust process is continuously executed;
(5) and (4) air charging, air discharging or pressure maintaining, namely pressure maintaining, performing pressure maintaining.
According to the method for controlling the anti-skidding air charging or exhausting, when the vehicle wheel set glides, the running function of the anti-skidding system is determined according to the state and the variation trend of the braking instruction, and the situation that the braking force actually applied by the gliding wheel set is larger than the braking force required by the braking instruction to influence the driving safety is avoided. The air charging amount in the air charging process is controlled by calculating the air discharging amount in the anti-skid control process, so that the brake control pressure required by the train is ensured, and the sliding wheel pair is prevented from sliding again. Meanwhile, the air exhaust time and the pressure maintaining time of each stage are determined according to the difference of the sliding degrees of the train, a certain braking distance is ensured, and wheel wiping is avoided.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 8 shows an exemplary diagram of an apparatus for controlling anti-skid charging or discharging air according to an embodiment of the present invention, corresponding to the method for controlling anti-skid charging or discharging air described in the above embodiments. As shown in fig. 8, the apparatus may include: a control module 801, an exhaust air processing module 802 and an air charging processing module 803.
The control module 801 is used for performing anti-skid control when the vehicle wheel pair slides;
the air exhaust processing module 802 is configured to control a corresponding air exhaust timer to time and perform air exhaust processing if the antiskid control state is an air exhaust instruction; if the timing number of the air exhaust timer is larger than a preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve;
the air charging processing module 803 is configured to control the air charging timer to time if the anti-skid control state is an air charging instruction; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
Optionally, before the control module 801 performs the antiskid control, the control module is further configured to: and if the current braking instruction is detected and the braking force requirement included in the braking instruction does not fall, opening the permission of charging and exhausting air of the antiskid control electromagnetic valve, and otherwise, continuously detecting the sliding state of the vehicle.
Optionally, when the exhaust treatment module 802 controls the corresponding exhaust timer to perform timing and perform exhaust treatment, it may be configured to:
if the stage air exhaust control is started for the first time, timing by using a stage air exhaust and pressure maintaining cumulative timer, and simultaneously performing stage air exhaust or pressure maintaining treatment;
if the continuous air exhaust control is started for the first time, a continuous air exhaust timer is adopted for timing and continuous air exhaust treatment is carried out;
if the timing number of the air exhaust timer is larger than the preset threshold value, the current air exhaust permission of the antiskid control electromagnetic valve is closed, and the method comprises the following steps:
and if the timing number corresponding to the stage air exhaust and pressure maintaining accumulative timer is greater than a first preset threshold value, or the timing number corresponding to the continuous air exhaust timer is greater than a second preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve.
Optionally, the exhaust processing module 802 may be configured to:
counting stage air exhaust times;
carrying out air exhaust treatment according to the counted stage air exhaust times and the maximum stage air exhaust times;
and performing air exhaust treatment according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
Optionally, the exhaust processing module 802 may be configured to, when performing the exhaust processing according to the counted stage exhaust frequency and the maximum stage exhaust frequency:
detecting whether the air exhaust frequency of the current stage is equal to the maximum stage air exhaust frequency or not;
if the air exhaust frequency of the current stage is equal to the air exhaust frequency of the maximum stage, continuous air exhaust treatment is carried out, the continuous air exhaust time is the first time, and the air charging and exhausting control state is set to be pressure maintaining and output to the corresponding electromagnetic valve;
if the current stage air exhaust frequency is not equal to the maximum stage air exhaust frequency, air exhaust treatment is carried out according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
Optionally, when the exhaust processing module 802 performs exhaust processing according to the timing number corresponding to the stage exhaust and pressure holding cumulative timer, it may be configured to:
detecting whether the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer is greater than a second time, wherein the second time is the sum of the single-stage air exhaust and pressure maintaining time;
if the timing number corresponding to the current stage exhaust and pressure maintaining cumulative timer is greater than the second time, resetting the stage exhaust and pressure maintaining cumulative timer, assigning a value corresponding to the third time to the stage exhaust and pressure maintaining cumulative timer again, adding one to the stage exhaust frequency, and continuing to perform exhaust treatment; the third time is the time difference between the stage air exhaust time corresponding to the current air exhaust stage and the second time;
if the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is not more than the second time, detecting whether the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is more than a fourth time, wherein the fourth time is single-stage air exhaust time;
if the timing number corresponding to the current stage exhaust and pressure maintaining accumulative timer is larger than the fourth time, setting the air charging and exhausting control state as pressure maintaining and outputting the pressure maintaining to the corresponding electromagnetic valve;
if the corresponding timing number of the current stage exhaust and pressure maintaining accumulative timer is not more than the fourth time, the charging and exhausting control state is set as exhaust and output to the corresponding electromagnetic valve.
Optionally, the device for controlling the anti-skid air charging or air discharging may further include a pressure maintaining module, configured to set the air charging and discharging control state as a pressure maintaining state and output the pressure maintaining state to the corresponding electromagnetic valve if the anti-skid control state is a pressure maintaining instruction.
Optionally, when the air charging processing module 803 calculates the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding is successfully released, it may be configured to:
acquiring an air exhaust rate and an air charging rate according to a flow meter arranged at an outlet of the air exhaust electromagnetic valve and a flow meter arranged at an outlet of the air charging electromagnetic valve;
calculating the total air exhaust amount according to the total air exhaust time of the air exhaust timer when the sliding releasing is successful and the air exhaust speed;
and calculating the maximum air charging time according to the total air discharge amount and the air charging rate.
Optionally, when the air inflation processing module 803 performs air inflation processing, it may be configured to:
detecting whether the current actual air charging amount is larger than the total air exhaust amount;
if the current actual air charging amount is larger than the total air exhaust amount, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the current actual air charging amount is not more than the total air exhaust amount, controlling the air charging timer to continue timing, and detecting whether the stage air charging times are equal to the maximum stage air charging times or not;
if the stage air charging times are equal to the maximum stage air charging times, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the stage air charging times are smaller than the maximum stage air charging times, detecting whether the current stage air charging time is longer than a fifth time, wherein the fifth time is the sum of the single-stage air charging time and the pressure maintaining time;
if the current stage air charging time is longer than the fifth time, resetting the air charging timer, assigning the sixth time to the air charging timer again, adding one to the stage air charging times, and continuing air charging processing; the sixth time is the time difference between the stage charging time corresponding to the current charging stage and the fifth time;
if the current stage air charging time is not more than the fifth time, detecting whether the current stage air charging time is more than a seventh time, wherein the seventh time is a single-stage air charging time;
if the current stage air charging time is longer than the seventh time, setting the air charging and discharging control state as the pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve;
and if the air charging time of the current stage is not more than the seventh time, setting the air charging and discharging control state as the air charging and outputting to the corresponding electromagnetic valve.
According to the anti-skidding air charging or exhausting control device, when the vehicle wheel set slides, the running function of the anti-skidding system is determined according to the state and the variation trend of the braking instruction, and the situation that the braking force actually applied by the sliding wheel set is larger than the braking force required by the braking instruction to influence the driving safety is avoided. The air charging amount in the air charging process is controlled by calculating the air discharging amount in the anti-skid control process, so that the brake control pressure required by the train is ensured, and the sliding wheel pair is prevented from sliding again. Meanwhile, the air exhaust time and the pressure maintaining time of each stage are determined according to the difference of the sliding degrees of the train, a certain braking distance is ensured, and wheel wiping is avoided.
Fig. 9 is a schematic diagram of a terminal device according to an embodiment of the present invention. As shown in fig. 9, the terminal apparatus 900 of this embodiment includes: a processor 901, a memory 902 and a computer program 903, such as an anti-skid charging or discharging control program, stored in said memory 902 and executable on said processor 901. When the processor 901 executes the computer program 903, the steps in the above-mentioned method embodiment of controlling the anti-skid air charging and discharging, for example, the steps 101 to 103 shown in fig. 1, or the steps shown in fig. 2, 4, and 6 are implemented, and when the processor 901 executes the computer program 903, the functions of the modules in the above-mentioned device embodiments, for example, the functions of the modules 801 to 803 shown in fig. 8, are implemented.
Illustratively, the computer program 903 may be divided into one or more program modules, which are stored in the memory 902 and executed by the processor 901 to implement the present invention. The one or more program modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 903 in the anti-skid charging or discharging control device or terminal device 900. For example, the computer program 903 may be divided into a control module 801, an exhaust processing module 802, and an air charging processing module 803, and specific functions of the modules are shown in fig. 8, which are not described in detail herein.
The terminal device 900 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 901, a memory 902. Those skilled in the art will appreciate that fig. 9 is merely an example of a terminal device 900 and is not intended to limit terminal device 900 and may include more or fewer components than those shown, or some of the components may be combined, or different components, e.g., the terminal device may also include input output devices, network access devices, buses, etc.
The Processor 901 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 902 may be an internal storage unit of the terminal device 900, such as a hard disk or a memory of the terminal device 900. The memory 902 may also be an external storage device of the terminal device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the terminal device 900. Further, the memory 902 may also include both an internal storage unit and an external storage device of the terminal apparatus 900. The memory 902 is used for storing the computer programs and other programs and data required by the terminal device 900. The memory 902 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for controlling antiskid air charging or air discharging is characterized by comprising the following steps:
when the wheel set of the vehicle slides, the anti-skid control is carried out;
if the antiskid control state is an air exhaust instruction, controlling a corresponding air exhaust timer to time and perform air exhaust treatment; if the timing number of the air exhaust timer is larger than a preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve;
if the antiskid control state is an air charging instruction, controlling an air charging timer to time; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
2. The method of anti-skid charging or discharging air of claim 1, wherein before the anti-skid control of the vehicle wheel pair, which is slipping, further comprises:
and if the current braking instruction is detected and the braking force requirement included in the braking instruction does not fall, opening the permission of charging and exhausting air of the antiskid control electromagnetic valve, and otherwise, continuously detecting the sliding state of the vehicle.
3. The method of anti-skid charging or discharging air of claim 1, wherein controlling the corresponding discharging timer to time and discharge air comprises:
if the stage air exhaust control is started for the first time, timing by using a stage air exhaust and pressure maintaining cumulative timer, and simultaneously performing stage air exhaust or pressure maintaining treatment;
if the continuous air exhaust control is started for the first time, a continuous air exhaust timer is adopted for timing and continuous air exhaust treatment is carried out;
if the timing number of the air exhaust timer is larger than the preset threshold value, the current air exhaust permission of the antiskid control electromagnetic valve is closed, and the method comprises the following steps:
and if the timing number corresponding to the stage air exhaust and pressure maintaining accumulative timer is greater than a first preset threshold value, or the timing number corresponding to the continuous air exhaust timer is greater than a second preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve.
4. The method of antiskid charging or discharging air of claim 3, wherein the control method adopted in performing the staged discharging air control includes:
counting stage air exhaust times;
carrying out air exhaust treatment according to the counted stage air exhaust times and the maximum stage air exhaust times;
and performing air exhaust treatment according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
5. The method of anti-skid charging or discharging air of claim 4, wherein said discharging air according to the counted stage discharging times and the maximum stage discharging times comprises:
detecting whether the air exhaust frequency of the current stage is equal to the maximum stage air exhaust frequency or not;
if the air exhaust frequency of the current stage is equal to the air exhaust frequency of the maximum stage, continuous air exhaust treatment is carried out, the continuous air exhaust time is the first time, and the air charging and exhausting control state is set to be air exhaust and output to a corresponding electromagnetic valve;
if the current stage air exhaust frequency is not equal to the maximum stage air exhaust frequency, air exhaust treatment is carried out according to the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer.
6. The method of anti-skid charging or discharging air according to claim 4 or 5, wherein the discharging air according to the timing number corresponding to the stage discharging air and the pressure holding accumulation timer comprises:
detecting whether the timing number corresponding to the stage air exhaust and pressure maintaining cumulative timer is greater than a second time, wherein the second time is the sum of the single-stage air exhaust and pressure maintaining time;
if the timing number corresponding to the current stage exhaust and pressure maintaining cumulative timer is greater than the second time, resetting the stage exhaust and pressure maintaining cumulative timer, assigning a value corresponding to the third time to the stage exhaust and pressure maintaining cumulative timer again, adding one to the stage exhaust frequency, and continuing to perform exhaust treatment; the third time is the time difference between the stage air exhaust time corresponding to the current air exhaust stage and the second time;
if the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is not more than the second time, detecting whether the timing number corresponding to the current stage air exhaust and pressure maintaining accumulative timer is more than a fourth time, wherein the fourth time is single-stage air exhaust time;
if the timing number corresponding to the current stage exhaust and pressure maintaining accumulative timer is larger than the fourth time, setting the air charging and exhausting control state as pressure maintaining and outputting the pressure maintaining to the corresponding electromagnetic valve;
if the corresponding timing number of the current stage exhaust and pressure maintaining accumulative timer is not more than the fourth time, the charging and exhausting control state is set as exhaust and output to the corresponding electromagnetic valve.
7. The method of anti-skid charging or discharging air of claim 1, further comprising:
and if the antiskid control state is a pressure maintaining instruction, setting the air charging and exhausting control state as a pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve.
8. The method of antiskid charging or discharging air control of claim 1, wherein said calculating a maximum charging time based on a total discharging time of a discharging timer upon successful release of said sliding comprises:
acquiring an air exhaust rate and an air charging rate according to a flow meter arranged at an outlet of the air exhaust electromagnetic valve and a flow meter arranged at an outlet of the air charging electromagnetic valve;
calculating the total air exhaust amount according to the total air exhaust time of the air exhaust timer when the sliding releasing is successful and the air exhaust speed;
and calculating the maximum air charging time according to the total air discharge amount and the air charging rate.
9. The method of anti-skid charging or discharging air of claim 8, wherein said charging process comprises:
detecting whether the current actual air charging amount is larger than the total air exhaust amount;
if the current actual air charging amount is larger than the total air exhaust amount, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the current actual air charging amount is not more than the total air exhaust amount, controlling the air charging timer to continue timing, and detecting whether the stage air charging times are equal to the maximum stage air charging times or not;
if the stage air charging times are equal to the maximum stage air charging times, closing the air charging permission of the current antiskid control electromagnetic valve, and quitting antiskid control;
if the stage air charging times are smaller than the maximum stage air charging times, detecting whether the current stage air charging time is longer than a fifth time, wherein the fifth time is the sum of the single-stage air charging time and the pressure maintaining time;
if the current stage air charging time is longer than the fifth time, resetting the air charging timer, assigning the sixth time to the air charging timer again, adding one to the stage air charging times, and continuing air charging processing; the sixth time is the time difference between the stage charging time corresponding to the current charging stage and the fifth time;
if the current stage air charging time is not more than the fifth time, detecting whether the current stage air charging time is more than a seventh time, wherein the seventh time is a single-stage air charging time;
if the current stage air charging time is longer than the seventh time, setting the air charging and discharging control state as the pressure maintaining state and outputting the pressure maintaining state to the corresponding electromagnetic valve;
and if the air charging time of the current stage is not more than the seventh time, setting the air charging and discharging control state as the air charging and outputting to the corresponding electromagnetic valve.
10. An antiskid fills wind or device of air exhaust control, its characterized in that includes:
the control module is used for performing anti-skid control when the vehicle wheel set slides;
the air exhaust processing module is used for controlling a corresponding air exhaust timer to time and carry out air exhaust processing if the antiskid control state is an air exhaust instruction; if the timing number of the air exhaust timer is larger than a preset threshold value, closing the air exhaust permission of the current antiskid control electromagnetic valve;
the air charging processing module is used for controlling the air charging timer to time if the antiskid control state is an air charging instruction; calculating the maximum air charging time according to the total air discharging time of the air discharging timer when the sliding releasing is successful, and performing air charging treatment; and when the timing number corresponding to the air charging timer reaches the maximum air charging time, closing the air charging permission of the current antiskid control electromagnetic valve.
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